On 5/12/2014 1:18 PM, Chris Radek wrote: > On Sun, May 11, 2014 at 07:57:26PM -0500, David Raila wrote: >> >> How does one make a kinematics error do something reasonable, like >> report an error and stop motion? >> >> It appears that the return values from the Fwd/Inv kinematics calls are >> ignored, at least from my reading of control.c and command.c. > > This is improved in the joints_axes4 branch, which I hope (hope > hope) will get merged before 2.7 - see 419c10937 > > If you're working with nontrivial kinematics it would be great if > you would help test this branch. It works a LOT better.
Stupid questions from someone who doesn't understand much of the code above the real-time layer: * Why hasn't joints-axis been added as an alternate loadable motion module? Then anyone can play with it if they want but it doesn't instantly break every installed configuration. AFAIK, LinuxCNC has support for loading different modules for gcode interpreting, trajectory planning, etc. Right? * Side-bar: Why wasn't the same technique applied to the new trajectory planner? <background> I hope to pick up my work with non-trivial kinematics machines again (specifically the Wally 3D printer). I understand the concept of modifying the oldest code to which a change might apply and merging forward, but , but I run on a BeagleBone and I need the UBC changes which means I can't work off of 2.6 or master. So far I haven't had to worry about this, because pretty much everything I've written is specific to the BeagleBone and either gets merged or dropped with the other UBC changes. <question> * What is the recommended method for me to work on code like joints-axis that might need to get back-ported? -- Charles Steinkuehler [email protected]
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