'comp' is the tool for compiling HAL components that are implemented in
a single .c file. Kinematics modules are one kind of HAL component.
If you are using the package version, install emc2-dev and
build-essential packages using Package Manager or the commandline.
Then, use 'comp' to compile and install a new kinematics module:
comp --compile yourkins.c # compile yourkins.c
or
sudo comp --install yourkins.c # compile and install yourkins.c
These instructions should work for emc 2.1.7 and for the development
version of emc.
Jeff
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