Thanks, Alex! I start feeling like I do understand something :)
2011/1/5 Alex Joni <[email protected]>:
>
> the adding HAL pins looks ok, but one would need to test/debug it to say
> that it's 100% ok.
>
How are the simulated machines created? I suspect that there was
simulation model of Puma arm, so that could be tweaked - joint.0
created to be linear instead of rotary. I would like to test it. Or I
can send both genserkins.c and genserkins.h, if anyone else is
interested in them.
>
> That should be fairly simple:
> change line 81 to:
> genser->links[t].quantity = TYPE(t);
Please correct me here, if I am misunderstanding:
Since TYPE(t) values would be 0 or 1, I think that this would just set
genser->links[t].quantity to be 0 or 1 instead of GO_QUANTITY_LENGTH
or GO_QUANTITY_ANGLE.
Shouldn't it be something like this?
Please, correct the syntax, I think that it is not correct.
73 /* init them all and make them revolute joints */
74 /* FIXME: should allow LINEAR joints based on HAL param too */
75 for (t = 0; t < GENSER_MAX_JOINTS; t++) {
76 if (TYPE(t) = 0)
77 genser->links[t].u.dh.a = 0;
78 genser->links[t].u.dh.alpha = 0;
79 genser->links[t].u.dh.d = 0;
80 genser->links[t].u.dh.theta = 0;
81 genser->links[t].type = GO_LINK_DH;
<---- I did not find gomath.h file, to check, if
this one is o.k.
82 genser->links[t].quantity = GO_QUANTITY_LENGTH;
83 if (TYPE(t) = 1)
84 genser->links[t].u.dh.a = A(t);
85 genser->links[t].u.dh.alpha = ALPHA(t);
86 genser->links[t].u.dh.d = D(t);
87 genser->links[t].u.dh.theta = 0;
88 genser->links[t].type = GO_LINK_DH;
89 genser->links[t].quantity = GO_QUANTITY_ANGLE;
90 }
>> 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.
Can anyone tell me, where is gomath.h file located? I was browsing
through git pretty long time, but did not find it there.
Viesturs
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