ubuntu 10.04 Lcnc2.7 JA8 custom kins

setp    axis.0.jog-vel-mode 0   (axis or joint depends if I use JA8 or Lcnc2.7 --- this is Lcnc code)
net selected-jog-incr    =>  axis.0.jog-scale (selected-jog-incr depends of mux4 0.001/0.004/0.012)
net joint-select-a       =>  axis.0.jog-enable   <=  hm2_5i25.0.7i77.0.0.input-16 
net joint-selected-count =>  axis.0.jog-counts  (joint-selected-counts depends of encoder count mesa pin)

#******OR IN JA8************************

setp    joint.0.jog-vel-mode 0   (axis or joint depends if I use JA8 or Lcnc2.7 --- this is JA8 code)
net selected-jog-incr    =>  joint.0.jog-scale (selected-jog-incr depends of mux4 0.001/0.004/0.012)
net joint-select-a       =>  joint.0.jog-enable   <=  hm2_5i25.0.7i77.0.0.input-16 
net joint-selected-count =>  joint.0.jog-counts  (joint-selected-counts depends of encoder count mesa pin)

setp    joint.0.jog-vel-mode 0   
setp  joint.0.jog-scale  0.001
net joint-select-a       =>  joint.0.jog-enable   <=  hm2_5i25.0.7i77.0.0.input-16 
net MPG-encoder-count  hm2_5i25.0.7i77.0.0.encoder.5.count  =>  joint.0.jog-counts

int kinematicsInverse(const EmcPose * world,
		      double * joints,
		      const KINEMATICS_INVERSE_FLAGS *iflags,
		      KINEMATICS_FORWARD_FLAGS *fflags)

 {
    double x0, y0, z0, theta1, theta2, theta3;
    int status;
     
if ( condition ....)
     {x0 = world->tran.x + encoder-value (for example);}
else if (condition ....)
    { y0 = world->tran.y+ encoder-value (for example);}

............
else {
      x0 = world->tran.x;
      y0 = world->tran.y;
     z0 = world->tran.z;
     joints[3] = world->a;
     joints[4] = world->b;
     joints[5] = world->c;
     joints[6] = world->u;
     joints[7] = world->v;
     joints[8] = world->w;
}

     theta1 = theta2 = theta3 = 0;

     status = delta_calcAngleYZ(x0, y0, z0, &theta1);