On 2 December 2011 13:52, Francesca Sca <[email protected]> wrote: > Hmm...I don't understand very well what this means. You suggest me to create > an HAL component or some maths in HAL to pass the Joints pos values > (calculated by genserkins?) to stepgen 4 and 5. Right?
Yes. Genserkins rather assumes that the motor position directly controls the joint position. With your machine this is not the case. > This don't seems very easy...at least for me! It isn't any harder than other things you have already done. The first thing to work out is how the two stepgen positions correlate to wrist positions. You can figure that out by jogging in joint mode while looking at the stepgen-pos-cmd pins in Machine->Show HAL config (use the "Watch" tab, as the other tab doesn't update the values in real time). > But then how I should do to link stepgen to physical pin of parallel port to > move at the same time the two motor? I don't understand how to link > halparport pin to both stepgen. You want to link each stepgen to one step and one direction pin each. We were confused earlier. -- atp The idea that there is no such thing as objective truth is, quite simply, wrong. ------------------------------------------------------------------------------ All the data continuously generated in your IT infrastructure contains a definitive record of customers, application performance, security threats, fraudulent activity, and more. Splunk takes this data and makes sense of it. IT sense. And common sense. http://p.sf.net/sfu/splunk-novd2d _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
