2014-11-20 21:23 GMT+02:00 Sebastian Kuzminsky <[email protected] <https://mail.google.com/mail/u/0/?view=cm&fs=1&tf=1&[email protected]>>:
> (Oops, re-sending without bogus encryption...) > > On 11/20/2014 11:16 AM, Andrew wrote: > > Hello, > > > > I've been using genhexkins pretty often. Recently I realised that it > would > > be very convenient to get kinematic parameters from hal pins (instead of > > genhexkins.h). > > It could be great to just have custom.hal with all these values for each > > machine. > > My programming skill is very limited, but I'd like to give it a try. > > Great idea! And it's good to hear that genhexkins has been working well > for you. > > Thanks for your reply! Yes, it works pretty well. I actually modified it a bit and cleaned from unnesessary code (it seems that original genhexkins remains the same since early EMC times). Here's another important question related to genhexkins and other non-trivial kins. How do I engage forward kinematics after homing? Here's what I mean. I home hexapod joints (not a trivial task itself), then I switch to world mode and LCNC gets the world coordinates from [TRAJ] HOME using inverse kinematics. But I'd like it to calculate the actual world position from the joint values after homing. Is it possible? I tried setting KINEMATICS_TYPE to KINEMATICS_FORWARD_ONLY with no effect. How is KINEMATICS_TYPE supposed to work? > > There are 6 base joints and 6 platform joints with x y z coordinates for > > each. > > What is the best way to pass the coordinates from hal? Just create 36 hal > > pins? > > Yep, exactly. > > > > If so, it seems reasonable to have genhexkins.base.[0..5].[x..z] and > > genhexkins.platform.[0..5].[x..z]. > > Can you point me an example how to create these? > > Take a look at how genserkins does it. It #includes hal.h, defines the > haldata structure to hold its view of the hal pins, then calls > hal_pin_*_new() to make the pins. After that it just accesses the > variables in its haldata structure to read the pins. I bet something > very similar will work for genhexkins too. > > If you prepare your work as a git branch (or a patch file) against the > linuxcnc "master" branch and send it to the list, we'll review it for you. > > > Oh, this document may be helpful: > > http://www.linuxcnc.org/docs/html/code/Contributing-to-LinuxCNC.html > > Thanks a lot! I'll try. -- Andrew ------------------------------------------------------------------------------ Download BIRT iHub F-Type - The Free Enterprise-Grade BIRT Server from Actuate! Instantly Supercharge Your Business Reports and Dashboards with Interactivity, Sharing, Native Excel Exports, App Integration & more Get technology previously reserved for billion-dollar corporations, FREE http://pubads.g.doubleclick.net/gampad/clk?id=157005751&iu=/4140/ostg.clktrk _______________________________________________ Emc-developers mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-developers
