Print Kinematics Parameters in LinuxCNC Simulation
18 Aug 2015 07:54 #61500
by jstoquica
Print Kinematics Parameters in LinuxCNC Simulation was created by jstoquica
Hi,
Recently I finished the simulation assembly of the IRB6 manipulator in vismach, and then I tried to test the properly kinematic, but the performance of the simulation is not good. I need to analyse the results of the kinematic parameters file.
How can I generate a log file with the kinematics variables in the simulation? Is It possible in linuxCNC? Or What other way do you recommend to me?
Regards.
Recently I finished the simulation assembly of the IRB6 manipulator in vismach, and then I tried to test the properly kinematic, but the performance of the simulation is not good. I need to analyse the results of the kinematic parameters file.
How can I generate a log file with the kinematics variables in the simulation? Is It possible in linuxCNC? Or What other way do you recommend to me?
Regards.
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20 Aug 2015 17:57 #61576
by andypugh
Replied by andypugh on topic Print Kinematics Parameters in LinuxCNC Simulation
If the numbers you need appear on HAL pins then you can log them with halsampler, or possibly with halscope.
The following user(s) said Thank You: jstoquica
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22 Aug 2015 04:53 - 22 Aug 2015 04:55 #61635
by jstoquica
Replied by jstoquica on topic Print Kinematics Parameters in LinuxCNC Simulation
Thanks for the reply,
I want to know the values of the kinematics variables, like angles values (theta) when I type G commands. For to check the real computations of kinematics functions in the *.c file. Is It possible in the functions like kinematicsForward or kinematicsInverse?
If it's possible, how can I do that?
else, how can I check them?
Regards.
I want to know the values of the kinematics variables, like angles values (theta) when I type G commands. For to check the real computations of kinematics functions in the *.c file. Is It possible in the functions like kinematicsForward or kinematicsInverse?
If it's possible, how can I do that?
else, how can I check them?
Regards.
Last edit: 22 Aug 2015 04:55 by jstoquica.
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09 Sep 2015 06:08 #62291
by jstoquica
Replied by jstoquica on topic Print Kinematics Parameters in LinuxCNC Simulation
Hi,
I hope you can help me with. Can I use something like that for generate the results of the kinematics variables?:
Regards.
I hope you can help me with. Can I use something like that for generate the results of the kinematics variables?:
#include <stdio.h>
int main(void)
{
char log[]="LogIRB.txt";
FILE *arq;
arq = fopen(log, "a");
if(arq == NULL)
printf("Erro, nao foi possivel abrir o arquivo\n");
else{
fprintf(arq, "X= %.2f\n", variavelX );
}
fclose(arq);
return 0;
}
Regards.
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09 Sep 2015 06:16 - 09 Sep 2015 06:17 #62292
by andypugh
Replied by andypugh on topic Print Kinematics Parameters in LinuxCNC Simulation
You can't access files from kernel modules, and kinematics routines are real-time kernel modules.
All you can do it print to the kernel log (i.e., dmesg). This is a Linux limitation, not a LinuxCNC one.
hal_sampler and sampler together circumvent this via a shared-memory buffer.
[Edit]
You might be able to print to file from a sim or uspace config, but not an RTAI config
All you can do it print to the kernel log (i.e., dmesg). This is a Linux limitation, not a LinuxCNC one.
hal_sampler and sampler together circumvent this via a shared-memory buffer.
[Edit]
You might be able to print to file from a sim or uspace config, but not an RTAI config
Last edit: 09 Sep 2015 06:17 by andypugh.
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23 Nov 2015 18:41 #65710
by jstoquica
Replied by jstoquica on topic Print Kinematics Parameters in LinuxCNC Simulation
Hi everyone,
In "genserkins.c" file the main () function has some printf() or fprintf() functions like:
How can I verify those log results when run a simulation? and/or how can I generate o text file with sim config without RTAI config?.
Thanks.
In "genserkins.c" file the main () function has some printf() or fprintf() functions like:
fprintf(stderr, "bad value: %s\n", argv[2]);
printf("initial estimate for Cartesian position, xyzrpw: ");
printf("calculation time: %f secs\n", (end - start));How can I verify those log results when run a simulation? and/or how can I generate o text file with sim config without RTAI config?.
Thanks.
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