*SOLVED* Recompiling genhexkins

andypugh wrote:

In your case you might need the homing routine to set the iflags before calling the inverse kins.

So, what I should do? change something in my kinematics file or change home values in ini file??

andypugh wrote:

How are you compiling armkins at the moment?
I found that I needed to put it in the kinematics directory, and then needed to edit emc2-dev/src/Makefile to duplicate all (9?) lines which mention genhexkins to add a similar line for armkins. That seems to work nicely.

Yes, as cncbasher suggested, I put armkins in emc2-dev/src/emc/kinematics and I have edit the Makefile adding lines similar to the other kinematics module. Then I compiled with
emc2-dev/src
./configure --enable-run-in-place
make
sudo make setuid

As I said on the mailing list, you have some sqrt() functions which might not be correct, and also could do with an fabs() in them to make them more robust. Things go badly wrong if the code tries to take a sqrt of a negative number.

You suggest me to add fabs() where there are sqrt()? In this way the code doesn't try to make a sqrt of a negative number?

Hi everyone again,

How to integrate stepgen module to parallel kinematic hal file for real time step/dir signal generator? Which companent's output use for step/dir signal? when I use vismach as simalator some times I get poor performans. What happens in real-time.

findux wrote:

How to integrate stepgen module to parallel kinematic hal file for real time step/dir signal generator? Which companent's output use for step/dir signal? when I use vismach as simalator some times I get poor performans. What happens in real-time.

You can find realtime config for hexapod with steppers here parallelrobots.blogspot.com/2012/04/linu...od-machine-tool.html

Bonjour à tous !

Je vient vers vous par ce que j'ai le même problème que Mr PKM :
Je suis français et avec la traduction automatique j'ai dût mal à vous suivre
Je veut construire le même type d'hexapode que Mr PKM et je voudrait de l'aide à propos des étapes de compilation et de modification des dimensions de l'hexapode dans linuxcnc.

Si j'ai bien compris, il faut :
1- Modifié les coordonnées XYZ de la base et de la platforme de l'hexapode : UF_HEXAPOD et commenté les autres dans le fichier genhexkins.h qui ce trouve dans le répertoire : /usr/includ/linuxcnc/genhexkins.h
2-Copier ceci : www.imac.unavarra.es/~cnc/GIT/emc2-dev/s...ematics/genhexkins.c pour le coller dans un fichier que j'ai nommé genhexkins.c
3-Compilé le fichier genhexkins.c avec la commande sudo comp --install genhexkins.c

Mais j'ai plusieurs problème :
Je ne peut pas modifier le fichier genhexkins.h car il est placé en lecture seule. Et lors de la compilation du fichier genhexkins.c, j'ai le même message d'erreur que Mr PKM :

WARNING: "pmRpyMatConvert" [/tmp/tmpvWVdx8/genhexkins.ko] undefined!
WARNING: "hal_init" [/tmp/tmpvWVdx8/genhexkins.ko] undefined!
WARNING: "pmCartCartCross" [/tmp/tmpvWVdx8/genhexkins.ko] undefined!
WARNING: "hal_exit" [/tmp/tmpvWVdx8/genhexkins.ko] undefined!
WARNING: "pmCartUnit" [/tmp/tmpvWVdx8/genhexkins.ko] undefined!
WARNING: "pmMatCartMult" [/tmp/tmpvWVdx8/genhexkins.ko] undefined!
WARNING: "pmCartCartAdd" [/tmp/tmpvWVdx8/genhexkins.ko] undefined!
WARNING: "hal_ready" [/tmp/tmpvWVdx8/genhexkins.ko] undefined!
WARNING: "pmCartMag" [/tmp/tmpvWVdx8/genhexkins.ko] undefined!
WARNING: "pmCartCartSub" [/tmp/tmpvWVdx8/genhexkins.ko] undefined!

Hi!
comp--install won't work for genhexkins.c
You should install LinuxCNC from source wiki.linuxcnc.org/cgi-bin/wiki.pl?Instal..._or_8_04_from_source
Then edit genhexkins.c and genhexkins.h and compile the whole project.