I have been thinking for quite a while that a set of offset pins in HAL to apply external offsets in World space would be very useful.
These would be perfect for Mark's squiffy bevel sawing machine, and would probably be a better solution to the problem that is almost but not quite solved by probekins. Offsets as HAL pins into motion would have the advantage of working in XYZ space rather than joint space, and hopefully it would also be possible to keep things inside soft-limits and velocity/accel limits. (or maybe not if those limits are computed prior to the switch to realtime) The mah jwp patch that I tried the other day was similar to what I envisage, except the offsets were definitively tied to pause-mode motion, whereas what I am proposing could be activated at any time when an "activate" pin was enabled. This would also provide a very convenient place for Dewey's new retract component to hook in, while not excluding the possibility of a "proper" jog-while-paused hooked into normal jog-while-not-paused jogging later. (the pins would be more generally applicable). One interesting application for such pins would be to allow world-space motion from arbitrary HAL components driven by sources other than G-code. There are probably many potential uses for this in special purpose machines. In this scenario motmod would handle homing, kinematics and kinematical limits, but the HAL component would generate the moves. -- atp If you can't fix it, you don't own it. http://www.ifixit.com/Manifesto ------------------------------------------------------------------------------ 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
