Can someo0ne post Chapter 27 example code.

I am trying to figure this out but it would be helpful to see the code "formatted to compile"for the explained example, I have tried to create this code and it fails.
It would help me to understand the chapter and how this actually works.

www.linuxcnc.org/docs/html/motion_kinematics.html

Ok this is what I was going to try next, guessing though. I was just working on getting the development packages to rebuild EMC2 with this new suport. Again I am only guessing this may work.

/********************************************************************
* Description: bipodkins.c
* Bipod kinematics
*
* Derived from a work by Fred Proctor & Will Shackleford
*
* Author:
* License: GPL Version 2
* System: Linux
*
* Copyright (c) 2004 All rights reserved.
*
* Last change:
********************************************************************/

#include "kinematics.h" /* these decls */
#include "posemath.h"
#include "hal.h"
#include "rtapi_math.h"

int kinematicsForward(const double *joint,
EmcPose *world, const KINEMATICS_FORWARD_FLAGS *fflags, KINEMATICS_INVERSE_FLAGS *iflags)


{
double AD2 = joints[0] * joints[0];
double BD2 = joints[1] * joints[1];
double x = (AD2 - BD2 + Bx * Bx) / (2 * Bx);
double y2 = AD2 - x * x;
if(y2 < 0) return -1;
pos->tran.x = x;
pos->tran.y = sqrt(y2);


return 0;
}

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


{
double x2 = pos->tran.x * pos->tran.x;
double y2 = pos->tran.y * pos->tran.y;
joints[0] = sqrt(x2 + y2);
joints[1] = sqrt((Bx - pos->tran.x)*(Bx - pos->tran.x) + y2);

return 0;
}

/* implemented for these kinematics as giving joints preference */
int kinematicsHome(EmcPose * world,
double *joint,
KINEMATICS_FORWARD_FLAGS * fflags,
KINEMATICS_INVERSE_FLAGS * iflags)
{
*fflags = 0;
*iflags = 0;

return kinematicsForward(joint, world, fflags, iflags);
}

KINEMATICS_TYPE kinematicsType(void)
{
return KINEMATICS_IDENTITY;
}


#ifdef RTAPI
#include "rtapi.h" /* RTAPI realtime OS API */
#include "rtapi_app.h" /* RTAPI realtime module decls */
#include "hal.h"

EXPORT_SYMBOL(kinematicsType);
EXPORT_SYMBOL(kinematicsForward);
EXPORT_SYMBOL(kinematicsInverse);
MODULE_LICENSE("GPL");

int comp_id;
int rtapi_app_main(void) {
comp_id = hal_init("bipodkins");
if(comp_id > 0) {
hal_ready(comp_id);
return 0;
}
return comp_id;
}

void rtapi_app_exit(void) { hal_exit(comp_id); }
#endif

Ok now it wants modbus but I can't seem to find the file it wants?

checking for glib... configure: error: no -- required until somebody makes modbus optional

Yha I figured that out after googleing it. I am able to get a good build, now I just need to get motivated to look at what I was trying to figure out in the first place.

Thanks i will be back! There are more walls.

nikodell, did you install emc2-dev , following this instruction ?
It would be easier to help you, if you tell us what exactly are you doing.

Gerd

Yes I just have no clue to what is needed and why in the .c file. is there some other documentation?

I do not know of any other documentation, other than the Integrator Manual and the wiki pages.
Most important things are pretty much explained in the Integrator Manual.
You can find lots of examples of kinematics in the source code of EMC2.
I suggest, take one example, which is closest to what you want to do.
Rename it and install it without any other changes (using comp tool).

From here you can go forward to your own kinematics.

regards

Gerd