Hexapod Controls
23 Aug 2013 21:10 #38003
by andypugh
As you already (presumably) have a git repositiory all you need to do to try ja3 is
git branch --track ja3 origin/joints_axes3
git checkout ja3
(you might want to try git branch -r to list all the remote branches and to check the spelling)
Then "make" should build you a ja3 system rather than the current one.
You probably have to commit your changes to genhexins.h before it will let you change branches. I use git-gui for that.
wiki.linuxcnc.org/cgi-bin/wiki.pl?Git
You probably then need to cherry-pick your genhexkins changes back into your new ja3 branch (in git-gui you can do that in the "view all branch history" view)
Some of the configs have been changed in the ja3 branch to reflect the INI file config changes. One of them is sim/axis/axis_mm and that can be used as a guideline.
However, if you simply copy and paste all of the [AXIS_N] sections and re-paste in their entirity, then change [AXIS_0] to separate but identical [AXIS_X] and [JOINT_0] sections it will probably work fine because the spurious entries in each section will simply be ignored.
Then you need to add a [KINS] section which contains a KINEMATICS and (I think) NUM_JOINTS entry. (Though I think that these are actually only used by the HAL file, and as your HAL file doesn't look for them...)
In the HAL file you need to do a blanket search and replace of axis.N.joint-pos-cmd (and friends) for joint.N.position-cmd. Adding a "show pin" to the HAL file just after the loadrt motmod line will give you a pin list as a crib-sheet of the new pin names. Then it is a case of starting LinuxCNC from the command line, and changing stuff till it works, based on reading the error messages.
Do make sure you are running the version of LinuxCNC you thik you are running. If the splash-screen doesn't mention joints-axes then you have forgotten the . ./rip-environment and you are running the unmodified config
Don't ask me how I know, OK?
if you make a copy of the existing config folder, then you can still run that under the installed system, then modify the copy to suit ja3.
Replied by andypugh on topic Hexapod Controls
I did a quick search and didn't find much on Joints_Axes3 (though I've seen it mentioned in other threads). Can you point me towards some more info on it?
Thanks
As you already (presumably) have a git repositiory all you need to do to try ja3 is
git branch --track ja3 origin/joints_axes3
git checkout ja3
(you might want to try git branch -r to list all the remote branches and to check the spelling)
Then "make" should build you a ja3 system rather than the current one.
You probably have to commit your changes to genhexins.h before it will let you change branches. I use git-gui for that.
wiki.linuxcnc.org/cgi-bin/wiki.pl?Git
You probably then need to cherry-pick your genhexkins changes back into your new ja3 branch (in git-gui you can do that in the "view all branch history" view)
Some of the configs have been changed in the ja3 branch to reflect the INI file config changes. One of them is sim/axis/axis_mm and that can be used as a guideline.
However, if you simply copy and paste all of the [AXIS_N] sections and re-paste in their entirity, then change [AXIS_0] to separate but identical [AXIS_X] and [JOINT_0] sections it will probably work fine because the spurious entries in each section will simply be ignored.
Then you need to add a [KINS] section which contains a KINEMATICS and (I think) NUM_JOINTS entry. (Though I think that these are actually only used by the HAL file, and as your HAL file doesn't look for them...)
In the HAL file you need to do a blanket search and replace of axis.N.joint-pos-cmd (and friends) for joint.N.position-cmd. Adding a "show pin" to the HAL file just after the loadrt motmod line will give you a pin list as a crib-sheet of the new pin names. Then it is a case of starting LinuxCNC from the command line, and changing stuff till it works, based on reading the error messages.
Do make sure you are running the version of LinuxCNC you thik you are running. If the splash-screen doesn't mention joints-axes then you have forgotten the . ./rip-environment and you are running the unmodified config
Don't ask me how I know, OK?if you make a copy of the existing config folder, then you can still run that under the installed system, then modify the copy to suit ja3.
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