Bipod setup

dab77 wrote:

here there's my bipodkins.c, you have to compile, changing the name for your needs.

this is a simple bipod cinematics (two motors, one cable per motor, united in one point.) and it works, in both ubu8.04 and 10.04.

try if it work, and at least you can modify this.

File Attachment:

File Name: dab_bipodkins.zip
File Size:1 KB

Hi dab77,

Thanks for your File but I need 4 Motors for my purpose.
During the next two weeks I haven't time. Maybe in the meantime gerd will find a solution for our problem. When there is more time i will try again.
Thx to all

regards
Bene

Hi there,

I am new and I want to use Gerds dualbipod too (for styro cutting machine). After upgrade to 10.04 we have to recompile the dualbipod.c file. Usually we have to use the comp command.

In pure ubuntu system I have installed the header and source files from the archives/repositories.

Then, when give comp a chance we get errors. Comp tries to get the headers out of the old headers from 8.04 which is the wrong place. I had alook at comp, it is a python script. But I am not experienced in reading python.

2.6.24 is out; it must be 2.6.32-122-rtai


Here the errors from comp:

comp --compile dualbipod.c
make -C /usr/src/linux-headers-2.6.24-16-rtai SUBDIRS=`pwd` CC=gcc V=0 -o /Module.symvers modules
make: *** /usr/src/linux-headers-2.6.24-16-rtai: No such file or directory. Schluss.
make: *** [modules] Fehler 2

Can anyone tell me, what we have to do to get the right environment working?

Best Regards

Wolfgang

Hi There!

Searching around ...... AND:

The Template for running COMP holds still the old places for the RT Modules!

It is stored under /etc/emc2/Makefile.Modinc

You have to chnage from 2.6.24-12-rtai to 2.6.32-122-rtai by hand.

Please find atached corrected file.

Regards

Wolfgang

Dear Admins,

a longer version of this text was thrown away with "incorrect code", so I repeat it in short:

Yes it was an Update from 8.04 to 10.04. Simple replace karmic to lucid.

--> no clean environment.

Better: Updatemanager from Ubuntu disables Thirdparty repos in a correct way, after update add emc2 back again.

Next: COMP is wrong in this line

ifeq ($(BUILDSYS),kbuild)
modules:
$(MAKE) -C $(KERNELDIR) SUBDIRS=$(shell pwd) CC=$(CC) V=0 -o $(KERNELDIR)/Module.symvers modules

Error 1: originally there is a $(KDIR)/Module.symvers must be KERNELDIR

Error 2: SUBDIRS needs $(shell pwd) not $('pwd') but this results in nonsense. Which subdir is to use?

After doing this, we still have errors.

sudo comp --install dualbipod.c
make -C /usr/src/linux-headers-2.6.32-122-rtai SUBDIRS=/tmp/tmp625dVT CC=gcc V=0 -o /usr/src/linux-headers-2.6.32-122-rtai/Module.symvers modules
make[1]: Betrete Verzeichnis '/usr/src/linux-headers-2.6.32-122-rtai'
CC [M] /tmp/tmp625dVT/dualbipod.o
Building modules, stage 2.
MODPOST 1 modules
WARNING: "hal_init" [/tmp/tmp625dVT/dualbipod.ko] undefined!
WARNING: "hal_exit" [/tmp/tmp625dVT/dualbipod.ko] undefined!
WARNING: "hal_malloc" [/tmp/tmp625dVT/dualbipod.ko] undefined!
WARNING: "hal_param_float_new" [/tmp/tmp625dVT/dualbipod.ko] undefined!
WARNING: "hal_ready" [/tmp/tmp625dVT/dualbipod.ko] undefined!
CC /tmp/tmp625dVT/dualbipod.mod.o
LD [M] /tmp/tmp625dVT/dualbipod.ko
make[1]: Verlasse Verzeichnis '/usr/src/linux-headers-2.6.32-122-rtai'
cp dualbipod.ko /usr/realtime-2.6.32-122-rtai/modules/emc2/

Should be no big deal now.

Kind regards

Wolfgang

Hi,

sorry, I upgraded from 8.04 LTS to 10.04 LTS


Regards

Wolfgang

Hi,

after doing it:

If I go to HOME and then enter world modus x is y and y in x direction. How do I change that?

Regards

Wolfgang