I'm designing a unconventional gantry router that will make use of the rotatekins kinematics module. I've been reading all the manuals and playing with axis (using a modified core_sim.hal). It would appear that the angle (joints[5]) used in rotatekins.c defaults to zero, therefore it behaves much as trivkins does.
How can I change the value of joints[5]? I can't seem to find it anywhere in halmeter. Must I set it in the source and recompile the module? Also, in my design, the z-axis is coupled with the x- and y-axis. I could work out the math and make a new kinematics module but then I heard on the list that there's been some work at using two encoders for an axis -- one for velocity and another for position. If I were able to use an encoder on the z-axis for position control and one on the motor (not directly coupled to the axis) for velocity control, I think the standard rotatekins module would work. Where can I find information on using two encoders on an axis? Any hints for configuring my .hal file are welcome too! :) Thanks for the help! ------------------------------------------------------------------------- This SF.Net email is sponsored by the Moblin Your Move Developer's challenge Build the coolest Linux based applications with Moblin SDK & win great prizes Grand prize is a trip for two to an Open Source event anywhere in the world http://moblin-contest.org/redirect.php?banner_id=100&url=/ _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
