*SOLVED* Recompiling genhexkins

andypugh wrote:

My first thought is that the PM_PI/180 and 180/PM_PI might be causing problems, try 180.0 to make it clear to the compiler that those are a floating-point value. posemath,h defines TO_DEG (180./PM_PI) and TO_RAD (PM_PI/180.) as constants, too, if you prefer. Note that it uses 180. rather than 180 to make is clear how the value is represented.
This is a "feature" of C.

Ok I'll edit in this way the values. I have a doubt now....the conversion Deg to Rad and viceversa. In my ini file I setted mm and deg as unit. What the calculations of module of kinematics (as pumakins that I have edited) return?

The same is true for the 190 and 245 values (190 is a joint length, presumably, not a 180 that is wrong?)

Yes, 190 and 245 are joint lenght

I added to my armkins.c file some flags or singularities as shoulder right or left and wirst down or up. Now when I pass to world mode I have a "following error" without moviment of robot and the software is stopped. Which could be the problem? (the latency of pc isn't it). The equations of kinematic yet? or some starting value wrong?

andypugh wrote:

honey wrote:

I added to my armkins.c file some flags or singularities as shoulder right or left and wirst down or up.

You are well outside any area that I have expertise in now.

There could be more configurations of the robot to arrive to target. This is shown in the attached image

If you attach the latest kinematics file, I will try to remember to try it out tonight.

I have attached also the latest kinematics file. When I pass to the world mode, it seems that the software searches some positions and for this reason I have a "following error". But I don't know what and why happens this when I pass to world mode

andypugh wrote:

I had a quick look, but I can't compile your kinematic without armkins.h as you have defined the flags there.

Sorry, you are right. I attach the file here

Is it possible that something is wrong with the homing part of your kinematics file?

Yes It is possible. Really I don't understand how the kinematics module (pumakins or others) use the homing part. You can me help with this? What I should do?