On Thu, Jul 03, 2008 at 06:20:37PM -0400, Organic Engines wrote:
> Where are the modules?
The exact location depends on your emc2 installation. For instance, on
my system, trivkins is installed to
/usr/realtime-2.6.24-16-rtai/modules/emc2/trivkins.ko
In any case, you can compile and install your own kinematics module
using comp:
[sudo] comp --install mykins.c
(sudo being necessary for installed systems and usually unnecessary for
run-in-place systems)
> Where do I put them? (In my Hal file, ini file?)
The kinematics file is loaded as a HAL realtime module before 'motion'
is loaded. That is why lines similar to these appear in all the sample
hal files:
# first load all the RT modules that will be needed
# kinematics
loadrt trivkins
# motion controller, get name and thread periods from ini file
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD
servo_period_nsec=[EMCMOT]SERVO_PERIOD traj_period_nsec=[EMCMOT]TRAJ_PERIOD
key=[EMCMOT]SHMEM_KEY num_joints=[TRAJ]AXES
Jeff
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