5 Axis ParPort Stepper Setup with RTCP

Change the calculations to be the calculations you want to do.

You will need to learn at least the rudiments of C. However that code uses #defines and helper functions, and that is probably making it harder for you to understand.

andypugh wrote: It is fairly clear that tool_length isn't being used in the calculations. That solves one puzzle.

can you guide me where to include with what lines exactly ??

As for the rest, you may not need the pmcartesian, and d2r and r2d are degrees to radian conversions because C trigonometry functions use radians.

so do i need to remove those lines ???

So, if it's easier for you just put the equations in axis/joint caclulations line.

The functions and constants you can think of using are here:
www.cs.cf.ac.uk/Dave/C/node17.html

You will just have to become a little less noob about C to figure out the syntax. You can only use () brackets and the line has to end with ;
You need to use *(haldata->pivot_length) to get the pivot length value from the HAL pin and *(haldata->tool_length) to get thte tool length.

Then is is just a matter of reading the error reports and acting on them until it compiles and works.

okay thats what i want to do ...i want to remove all clutter expect the equations for x and z ... but how ? :ohmy:

marq_torque wrote: can you guide me where to include with what lines exactly ??

*(haldata->tool_length) t

so do i need to remove those lines ???

I think it is probably easier to read the code if you carry on using the functions.

okay thats what i want to do ...i want to remove all clutter expect the equations for x and z ... but how ? :ohmy:

Take out all the lines that do the wrong things, and replace them with lines that do the right things.

First read enough stuff to be able to at least understand C syntax, and what it is all doing.

I am running out of motivation here, it's your machine, you need to put the work in.

*(haldata->tool_length) t

do you mean i need to add new line ?? after ..


*(haldata->pivot_length) = 250.0;

i guess ??

Learn some C. I really don't have the time to teach you.

Yes yes trying to

btw thanks big time for taking this much hassle