On 11 June 2010 13:46, Viesturs Lācis viesturs.la...@gmail.com wrote:
13 double xy_tan = atan2(pos-tran.y - old.y,pos-tran.x - old.x);
I have been thinking about this some more, and it is too simplistic
and may be causing problems.
What happens when X and Y are stationary? atan2(0,0) is
2010/6/15 Andy Pugh a...@andypugh.fsnet.co.uk:
On 11 June 2010 13:46, Viesturs Lācis viesturs.la...@gmail.com wrote:
13 double xy_tan = atan2(pos-tran.y - old.y,pos-tran.x - old.x);
I have been thinking about this some more, and it is too simplistic
and may be causing problems.
What
Hello, folks!
I have several questions about following part of my kinematics module
(I have added the numbering at the beginning of lines, so that it is
easier to understand, which phrase or line is being discussed):
1 #include rtapi_math.h
2 #include kinematics.h /* these decls */
Viesturs Lācis wrote:
1) What would correct syntax for line 18 and 19 look like?
could be something like :
18 for (int i=1; i limit; i++){
19 if (xy_tan == (90+(180*i)) || xy_tan == (90-(180*i)))
19 pos-a = asin(sin(joints[5]) / sin(xy_tan));
20 }
2010/6/11 Przemek Klosowski przemek.klosow...@gmail.com:
1 #include rtapi_math.h
2 #include kinematics.h /* these decls */
3
4 const double head_offset = 200;
5
6 PmCartesian old;
7
8 in t kinematicsForward(const double *joints,
9 EmcPose * pos,
10
If atan2() returns a negative result, add 360 degrees (or the equivalent in
radians) to the result.
Neil
2010/6/11 Viesturs Lācis viesturs.la...@gmail.com
2010/6/11 Przemek Klosowski przemek.klosow...@gmail.com:
1 #include rtapi_math.h
2 #include kinematics.h /* these decls
Hello, Andy!
I have done some braining-activity and complemented ABkins.c (that is
how I temporarily called my customized kinematics module) with
formulas for forward and inverse kinematics.
As I have gantry style machine, I have a suspicion, that current
syntax is not good - joint[1] is not
Hello!
I have been trying to write my kinematics module, with extensive help
from Andy Pugh I have made some little progess and I would like to ask
anyone, who has some knowledge and experience in developing kinematics
modules, to comment on what I have done.
I have attached 2 files:
ABkins.c -
I think that I give up trying to do this by myself (see below on
reasons, that have driven me to the desperation) and so I would like
to ask, if anyone can write a kinematics module for me and what would
be the fee for that?
2010/6/9 Andy Pugh a...@andypugh.fsnet.co.uk:
Indeed, look in
I would have taken this offlist some time ago, were it not that I am
talking from a position of almost total ignorance myself, and might
make some huge error that needs correcting). The reason I am even
trying to explain this is a feeling that explanations from someone who
knows only fractionally
2010/6/5 Andy Pugh a...@andypugh.fsnet.co.uk:
You would create a new file viesturskins.c (and possibly a .h) and put
it in the src/emc/kinematics/ directory, then recompile. The module
would then be available to load in HAL. You might need to add it to a
makefile or header file somewhere.
On 8 June 2010 22:31, Viesturs Lācis viesturs.la...@gmail.com wrote:
2) Where can I find some information about the syntax, used in the .c
and .h files?
http://www.amazon.com/Programming-Language-2nd-Brian-Kernighan/dp/0131103628/ref=sr_1_1?ie=UTF8s=booksqid=1276036335sr=8-1
:-)
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