I took a closer look at the thread I linked earlier and it looks like they weren't as successful as I previously thought. I'm only able to switch between modes when the rotary axes are at 0, which is the same issue they were having in the other thread. Their solution in that thread was to write a post processor that ensured the rotary axes were zeroed before switching modes. I'd prefer a solution that didn't involve a post processor, so I dove a little deeper into MachineKit's source code.
This is my first foray into MachineKit's source code, so I'd appreciate any feedback and/or tips! I am attempting to set up a mechanism to interface the motion module and the kinematics module using hal pins to get the desired kinematics switching behavior. I've created two pins on the motion module and the kinematics module: 1) carte_space_change_ok - output on the motion module, input on the kinematics module. When this pin is true, the kinematics module is safe to change kinematics modes. 2) carte_space_changed - input on the motion module, output on the kinematics module. This pin is set to true in the kinematicsForward function when a change to the hal pin that controls the mode has been detected. The idea is the motion module will detect when carte_space_changed is set to true and then follow up by setting carte_space_change_ok to true once the machine can change modes. I'm unsure exactly what conditions should be considered safe to change modes (i.e. is checking GET_MOTION_INPOS_FLAG enough?). I'm also unsure what internals need to be changed to successfully change carte_pos_cmd. I've tried setting carte_pos_cmd directly, clearing the trajectory planner (tpClear(emcmotQueue)), setting the current position (tpSetPos(emcmotQueue, carte_pos_cmd)), and draining the joint's cubic interpolators. It successfully transitions from five axis kinematics to trivial kinematics, but as soon as I issue a move with gcode from MDI mode I get a follow error. I must be missing something else that needs to change. Any thoughts? Does this seem like a reasonable way to do it? -- website: http://www.machinekit.io blog: http://blog.machinekit.io github: https://github.com/machinekit --- You received this message because you are subscribed to the Google Groups "Machinekit" group. To unsubscribe from this group and stop receiving emails from it, send an email to machinekit+unsubscr...@googlegroups.com. Visit this group at https://groups.google.com/group/machinekit. For more options, visit https://groups.google.com/d/optout.
