gantry kinematics dual Y

Hi

will the attached kinematics work as dual Y Axis gantry setup?

i changed in trivkins:

int kinematicsForward(const double *joints,
EmcPose * pos,
const KINEMATICS_FORWARD_FLAGS * fflags,
KINEMATICS_INVERSE_FLAGS * iflags)
{
pos->tran.x = joints[0];
pos->tran.y = joints[1];
pos->tran.z = joints[3];
pos->a = joints[4];
pos->b = joints[5];
pos->c = joints[6];
pos->u = joints[7];
pos->v = joints[8];
pos->w = joints[8];

return 0;
}

int kinematicsInverse(const EmcPose * pos,
double *joints,
const KINEMATICS_INVERSE_FLAGS * iflags,
KINEMATICS_FORWARD_FLAGS * fflags)
{
joints[0] = pos->tran.x;
joints[1] = pos->tran.y;
joints[2] = pos->tran.y;
joints[3] = pos->tran.z;
joints[4] = pos->a;
joints[5] = pos->b;
joints[6] = pos->c;
joints[7] = pos->u;
joints[8] = pos->v;
joints[8] = pos->w;

return 0;
}

Or am I messing up something else this way?

best regards

I'm not sure, and don't understand how any of that works, But...

I think inverse kinematics has to be exactly that, inverse of forward kins.
So it might fail compile, or give unpredictable results. Not sure..

Have you tried connecting Y step and dir to 2 sets of pins for 2 drives?

Ok, some more information.

I am running a 7i77 servo setup with velocity drives. I have it up and running, but cannot use the screw compensation the way I did it.
Gantry config is ignoring Softlimits...

By using the above kinematics I tried to use 2 Joints for the Portal that are fixed Linked to the Y axis.
That will allow me to use a screw comp for each side of the portal.

best regards

Ok, tried it yesterday.

After changing identity to KINEMATICS_BOTH it works with gcodes.
Jogging with the Keyboard is not working. Why? The keyboard jogging seems to ignore the Kinematics and drives the axis directly?

Best regards