ubuntu 10.04 Lcnc2.7 JA8 custom kins
19 Nov 2015 12:48 #65495
by andypugh
Replied by andypugh on topic ubuntu 10.04 Lcnc2.7 JA??
Poking around in the latest joints_axes9 I found:
git.linuxcnc.org/gitweb?p=linuxcnc.git;a...62a964d82f57e94566af
Which I _think_ seems to be saying that wheel jogging still doesn't work in world mode.
There may be a partial solution which is actually fairly similar to something you have already tried, you could attempt to use the halui analog jogging pins and the MPG _velocity_ in world mode.
git.linuxcnc.org/gitweb?p=linuxcnc.git;a...62a964d82f57e94566af
Which I _think_ seems to be saying that wheel jogging still doesn't work in world mode.
There may be a partial solution which is actually fairly similar to something you have already tried, you could attempt to use the halui analog jogging pins and the MPG _velocity_ in world mode.
The following user(s) said Thank You: bkt
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19 Nov 2015 13:00 - 19 Nov 2015 13:16 #65496
by bkt
Replied by bkt on topic ubuntu 10.04 Lcnc2.7 JA??
Ok ... i read this night somethings about these issue ..... my delta is well structured for support dangerous mouvement (real hard limit connect to servo directly .... and in hal file too) ... so I try to overwrite the result of world->trans.N + encoder-value directly on trans.N from kinematics ..... is very dirty solution but if it works can go .....
is possible to ask the best way to do this? .....
is possible to ask the best way to do this? .....
Last edit: 19 Nov 2015 13:16 by bkt.
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19 Nov 2015 13:51 #65499
by dgarrett
Correct -- there are no hal pins (axis.letter.jog*) for world mode wheel jogging in any joints_axes branch.
I may work on that next.
Replied by dgarrett on topic ubuntu 10.04 Lcnc2.7 JA??
Which I _think_ seems to be saying that wheel jogging still doesn't work in world mode.
Correct -- there are no hal pins (axis.letter.jog*) for world mode wheel jogging in any joints_axes branch.
I may work on that next.
The following user(s) said Thank You: bkt
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19 Nov 2015 14:11 - 19 Nov 2015 14:12 #65500
by bkt
Replied by bkt on topic ubuntu 10.04 Lcnc2.7 JA??
ok .... i undestand these .... for these reason in my delta kins i write these
@ dgarret this is my intention .... I ask the best way to do this "world->tran.x = world->tran.x + MX"....
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 ....) {get differential from (1th-time-encoder-count and 2th-time-encoder-count)float-value = MX}
if ( condition ....)
{[u][b]world->tran.x = world->tran.x + MX[/b][/u] (for example); x0 = world->tran.x;}
else if (condition ....)
{[u][b] world->tran.y = world->tran.y+ MX[/b][/u] (for example); y0 = world->tran.y;}
............
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);
.........................@ dgarret this is my intention .... I ask the best way to do this "world->tran.x = world->tran.x + MX"....
Last edit: 19 Nov 2015 14:12 by bkt.
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20 Nov 2015 19:48 #65581
by andypugh
Replied by andypugh on topic ubuntu 10.04 Lcnc2.7 JA??
You probably want to pull the new ja9 branch after this commit that Dewey just pushed:
git.linuxcnc.org/gitweb?p=linuxcnc.git;a=commitdiff;h=9313d26
git.linuxcnc.org/gitweb?p=linuxcnc.git;a=commitdiff;h=9313d26
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20 Nov 2015 19:54 - 20 Nov 2015 19:59 #65582
by dgarrett
that commit (and others) are in a branch for test named 'dgarr/ja9_configs' (based on joints_axes9)
anyone is welcome to try the branch (see the commit messages) but it is not in the joints_axes9 branch at this moment
video
the video uses the sim config: configs/sim/axis/ldelta_demo.ini
other configs for test are in configs/sim/axis/gentrivkins/*.in
'scratch' debs should be available later in the day from the http://buildbot at buildbot.linuxcnc.org
Replied by dgarrett on topic ubuntu 10.04 Lcnc2.7 JA??
You probably want to pull the new ja9 branch after this commit that Dewey just pushed:
that commit (and others) are in a branch for test named 'dgarr/ja9_configs' (based on joints_axes9)
anyone is welcome to try the branch (see the commit messages) but it is not in the joints_axes9 branch at this moment
video
the video uses the sim config: configs/sim/axis/ldelta_demo.ini
other configs for test are in configs/sim/axis/gentrivkins/*.in
'scratch' debs should be available later in the day from the http://buildbot at buildbot.linuxcnc.org
Last edit: 20 Nov 2015 19:59 by dgarrett.
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20 Nov 2015 20:30 - 20 Nov 2015 20:41 #65585
by bkt
Replied by bkt on topic ubuntu 10.04 Lcnc2.7 JA??
real tanks to all ..... for shure test it monday ....
but in order to understand better linuxcnc structure .... i have a question:
if try to write in inversekins /* where emcpos is declared const */ world->pos->x = 100 in compile i receive error wrting in read only variable ..... butif I write world->pos->x = 100 in fowardkins /* where emcpos is declared const double*/ obtain that x=100 (i see it in DRO on axis gui) but nothing axis muvement. why this?
emcpos is the file that archieve and comand position or not?What makes emcpos ? ..... than joint[N] declare in inverse/foward kins ....in which files LCNC has its origin ?
Regards
Giorgio
but in order to understand better linuxcnc structure .... i have a question:
if try to write in inversekins /* where emcpos is declared const */ world->pos->x = 100 in compile i receive error wrting in read only variable ..... butif I write world->pos->x = 100 in fowardkins /* where emcpos is declared const double*/ obtain that x=100 (i see it in DRO on axis gui) but nothing axis muvement. why this?
emcpos is the file that archieve and comand position or not?What makes emcpos ? ..... than joint[N] declare in inverse/foward kins ....in which files LCNC has its origin ?
Regards
Giorgio
Last edit: 20 Nov 2015 20:41 by bkt.
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09 Dec 2015 19:16 #66698
by bkt
Replied by bkt on topic ubuntu 10.04 Lcnc2.7 JA??
the test run ok. (sorry for late reply ... but simulation of MPG on mykins works well ... so I test ja9 this monday).
Very Very Tanks
Very Very Tanks
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