Bipod setup

agree to andypugh, do not overwrite trivkins, create another kinematics with different name.
I think you can compile with --compile, and then install it manually with something like
(adjust names according your system)

Gerd

@step4linux:
yes, that's exactly how i'm compiling till now.
and ok, i'm going to change the name of the module, promise..

@andypugh:
what do you mean for "exactly equivalent?"

the formulas i've wrote are perfectly the same that you find on the kinematics documentation
linuxcnc.org/docs/html/motion_kinematics.html . I just copied the kins formulas to 'evaluate' the bipod functionality, but it doesn't work.

can be maybe 'cause I have EMC2 (2.4.3) installed natively with the UBU8.04_emc2, ant then I downloaded the src packet to take the kins*.c to modify?

Help!!

ok, that's what i was looking about, but help me, what number should i write in debug mode?

then, i've tried to invert the output of my joint1, that's because the second motor is going CCW to have positive joint lenght.
so i don't use negative homing and numbers for the two joints.
in fact if i set the two joints manually at a possible value (distance between the two motors is 800mm, so 600 per joint is a possible value), i can now go to world mode, but as soon as i try to jog in world mode it return a follow error. just two times happened that it moved along the x-world axis,but without stopping, right to the limit and then stop. only in that direction, but just two times on 50 tryings.

???

other thing:
in the kinematics functions of the wiki of this bipod there's another lack. when one of the cables reaches the verticality, it shuold stop.
also it should stop but without stopping the machine, so i can move back the axis, or the joints..there will be the need of a good and little complicate algorithm....