LinuxCNC source code modification

Hello,

I have LinuxCNC already installed on my PC, is it possible to access and modify the source code that runs the application?
I am looking for the section where the software changes the G code to actual steps for the motors and sends them.

Thanks!

Most modifications of LinuxCNC behaviour are done in the configuration files (HAL and INI files) not modifying the LInuxCNC source

Have you read the hal documentation?

Yes, you can access and modify any of the source code for Linuxcnc.
github.com/LinuxCNC/linuxcnc/tree/2.7

But I'm not sure exactly what your looking for, because what you're describing is spread over several areas some of which is deeply embeded into the heart of Linuxcnc.

There is the g-code interpreter that reads the g-code, and the tool planner, kinematics, and Motion, and finally the position commends are sent to a step generator (either the software stepgen or an external hardware stepgen.)

What are you hoping to accomplish?

I'm trying to get feedback from a sensor that measures the actual distance and feed the error plus the theoretical steps issued by linuxcnc to the cnc board.

Thus I'm trying to find the part of the code where the steps to move the motor are issued so I can add to them the error.

This is really something that should be done in HAL (that is in the configuration files), not by changing LinuxCNC source

Thanks for noting that.

I'll read the HAL documentation and check what can be done.

I think you want a closed loop stepper with a pulse sensor instead of a encoder.