On 27 July 2011 11:23, andy pugh <[email protected]> wrote: > I think that this means that the kinematicsForward and > kinematicsInverse functions in trivkins (and, by extension, any other > KINEMATICS_IDENTITY kinematics) are not actually used, or are used and > over-ridden. I have poked around in the code, though, and can't see > where.
This is even more interesting than I thought. The swapped kins (that I linked to from the other mailing list) works exactly as expected in coordinated mode (ie running G-code, or from MDI) but will only ever jog joint 0 for X in "free" mode. Putting it manually into tele-op mode (there is no keyboard way, as far as I can see if the kins are identity) seems to allow jogging in either joint. I am starting to think that gantrykins would be rather more "friendly" as an IDENTITY kins. I don't think that it would be possible to jog individual axes in that mode, but home-all does actually home every joint despite only showing XYZ on screen. -- atp "Torque wrenches are for the obedience of fools and the guidance of wise men" ------------------------------------------------------------------------------ Got Input? Slashdot Needs You. Take our quick survey online. Come on, we don't ask for help often. Plus, you'll get a chance to win $100 to spend on ThinkGeek. http://p.sf.net/sfu/slashdot-survey _______________________________________________ Emc-developers mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-developers
