2011/1/11 Viesturs Lācis <[email protected]>:
>
> I still am getting message in terminal that default type and theta
> values are not defind:
>
In genserkins.c I tried to comment out the lines with default values, like this:
D(0) = DEFAULT_D1;
D(1) = DEFAULT_D2;
D(2) = DEFAULT_D3;
D(3) = DEFAULT_D4;
D(4) = DEFAULT_D5;
D(5) = DEFAULT_D6;
/* TYPE(0) = DEFAULT_TYPE1;*/
/* TYPE(1) = DEFAULT_TYPE2;*/
/* TYPE(2) = DEFAULT_TYPE3;*/
/* TYPE(3) = DEFAULT_TYPE4;*/
/* TYPE(4) = DEFAULT_TYPE5;*/
/* TYPE(5) = DEFAULT_TYPE6;*/
And when I tried to comp --install this version, I received this error
message in terminal:
water...@waterjet:~/emc2-dev/src/emc/kinematics$ sudo comp --install
genserkins.c
[sudo] password for waterjet:
make -C /usr/src/linux-headers-2.6.32-122-rtai SUBDIRS=`pwd` CC=gcc
V=0 -o /Module.symvers modules
make[1]: Entering directory `/usr/src/linux-headers-2.6.32-122-rtai'
CC [M] /tmp/tmpuiYIV2/genserkins.o
/tmp/tmpuiYIV2/genserkins.c: In function 'compute_jfwd':
/tmp/tmpuiYIV2/genserkins.c:195: warning: the frame size of 1712 bytes
is larger than 1024 bytes
/tmp/tmpuiYIV2/genserkins.c: In function 'genser_kin_jac_fwd':
/tmp/tmpuiYIV2/genserkins.c:315: warning: the frame size of 1200 bytes
is larger than 1024 bytes
/tmp/tmpuiYIV2/genserkins.c: In function 'compute_jinv':
/tmp/tmpuiYIV2/genserkins.c:238: warning: the frame size of 1444 bytes
is larger than 1024 bytes
/tmp/tmpuiYIV2/genserkins.c: In function 'genser_kin_jac_inv':
/tmp/tmpuiYIV2/genserkins.c:278: warning: the frame size of 1912 bytes
is larger than 1024 bytes
/tmp/tmpuiYIV2/genserkins.c: In function 'kinematicsInverse':
/tmp/tmpuiYIV2/genserkins.c:533: warning: the frame size of 2256 bytes
is larger than 1024 bytes
Building modules, stage 2.
MODPOST 1 modules
WARNING: "go_quat_inv" [/tmp/tmpuiYIV2/genserkins.ko] undefined!
WARNING: "hal_init" [/tmp/tmpuiYIV2/genserkins.ko] undefined!
WARNING: "go_quat_matrix_convert" [/tmp/tmpuiYIV2/genserkins.ko] undefined!
WARNING: "go_pose_pose_mult" [/tmp/tmpuiYIV2/genserkins.ko] undefined!
WARNING: "go_dh_pose_convert" [/tmp/tmpuiYIV2/genserkins.ko] undefined!
WARNING: "go_matrix_vector_mult" [/tmp/tmpuiYIV2/genserkins.ko] undefined!
WARNING: "go_matrix_vector_cross" [/tmp/tmpuiYIV2/genserkins.ko] undefined!
WARNING: "hal_exit" [/tmp/tmpuiYIV2/genserkins.ko] undefined!
WARNING: "go_link_pose_build" [/tmp/tmpuiYIV2/genserkins.ko] undefined!
WARNING: "go_quat_cart_mult" [/tmp/tmpuiYIV2/genserkins.ko] undefined!
WARNING: "go_cart_vector_convert" [/tmp/tmpuiYIV2/genserkins.ko] undefined!
WARNING: "hal_malloc" [/tmp/tmpuiYIV2/genserkins.ko] undefined!
WARNING: "go_matrix_matrix_add" [/tmp/tmpuiYIV2/genserkins.ko] undefined!
WARNING: "go_quat_rvec_convert" [/tmp/tmpuiYIV2/genserkins.ko] undefined!
WARNING: "go_matrix_matrix_mult" [/tmp/tmpuiYIV2/genserkins.ko] undefined!
WARNING: "hal_pin_bit_newf" [/tmp/tmpuiYIV2/genserkins.ko] undefined!
WARNING: "go_matrix_inv" [/tmp/tmpuiYIV2/genserkins.ko] undefined!
WARNING: "go_matrix_transpose" [/tmp/tmpuiYIV2/genserkins.ko] undefined!
WARNING: "go_rpy_quat_convert" [/tmp/tmpuiYIV2/genserkins.ko] undefined!
WARNING: "go_quat_rpy_convert" [/tmp/tmpuiYIV2/genserkins.ko] undefined!
WARNING: "hal_ready" [/tmp/tmpuiYIV2/genserkins.ko] undefined!
WARNING: "go_pose_inv" [/tmp/tmpuiYIV2/genserkins.ko] undefined!
WARNING: "go_link_joint_set" [/tmp/tmpuiYIV2/genserkins.ko] undefined!
WARNING: "hal_pin_float_newf" [/tmp/tmpuiYIV2/genserkins.ko] undefined!
WARNING: "rtapi_print" [/tmp/tmpuiYIV2/genserkins.ko] undefined!
CC /tmp/tmpuiYIV2/genserkins.mod.o
LD [M] /tmp/tmpuiYIV2/genserkins.ko
make[1]: Leaving directory `/usr/src/linux-headers-2.6.32-122-rtai'
cp genserkins.ko /usr/realtime-2.6.32-122-rtai/modules/emc2/
water...@waterjet:~/emc2-dev/src/emc/kinematics$
This same error appears also, if I comment out the lines of default
theta and type values from genserkins.h file too.
The same error appears also, if I delete these lines from both files.
What am I missing here for successful definition of default theta and
type values in genserkins.c file?
Viesturs
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