>Please correct me, if I am wrong, but if I will change this line:
> 81 genser->links[t].quantity = GO_QUANTITY_ANGLE;
>to this one:
> 81 genser->links[t].quantity = GO_QUANTITY_LENGTH;
>then it will change all the joints from angular to linear. Is that correct?
Yes, that is correct
<snip>
the adding HAL pins looks ok, but one would need to test/debug it to say
that it's 100% ok.
> So now the remaining part is to create code that would select either
> GO_QUANTITY_ANGLE or GO_QUANTITY_LENGTH, based on "type" value - if it
> is 0, then GO_QUANTITY_LENGTH, if it is 1, then GO_QUANTITY_ANGLE.
That should be fairly simple:
change line 81 to:
genser->links[t].quantity = TYPE(t);
> I suspect that linear joint does not need a, d, alpha and theta values
> as well. Is that correct?
hmm.. good question
I'm afraid I don't have a useful answer. you would have to check the code
(around genserkins.c and gomath) to see how those are treated for linear
joints.
<snip>
> Is it correct that in this case I will need to change
> GENSER_MAX_JOINTS to 7 in genserkins,h file and probably in few more
> places in genserkins.c?
yes. the proper fix would be to use the constant in genserkins.c too
> By the way, genserkins.h says:
> 38 /*!
> 39 The maximum number of joints supported by the general serial
> 40 kinematics. Make this at least 6; a device can have fewer than
> these.
> 41 */
>
> Could You, please, explain, what is meant by "device can have fewer
> than these"? That additional dummy joints will need to be defined so
> that in any case total number of joints reaches 6?
Yes, exactly that. The calculations only work starting from 6 joints. If
your machine has fewer, you need to set the others as dummy.
Regards,
Alex
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