Kinematics... again:/

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06 May 2017 09:05 #92734 by Boogie
Replied by Boogie on topic Kinematics... again:/
so far i tried this:
in terminal go to 'Downloads' directory where robotkins.c file was downloaded and say: 'sudo halcompile --install robotkins.c'. The following messages popped out:

"
bogicnc@bogicnc:~/Downloads$ sudo halcompile --install robotkins.c
[sudo] password for bogicnc:
Traceback (most recent call last):
File "/usr/bin/halcompile", line 1353, in <module>
main()
File "/usr/bin/halcompile", line 1336, in main
shutil.copy(f, tempdir)
File "/usr/lib/python2.7/shutil.py", line 119, in copy
copyfile(src, dst)
File "/usr/lib/python2.7/shutil.py", line 82, in copyfile
with open(src, 'rb') as fsrc:
IOError: [Errno 2] No such file or directory: 'robotkins.c'
"

what now?:(

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06 May 2017 09:09 #92735 by Boogie
Replied by Boogie on topic Kinematics... again:/
there is no 'compile' element in /usr/bin folder.
Should i install:

sudo apt-get install linuxcnc-dev

?

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06 May 2017 09:43 #92736 by andypugh
Replied by andypugh on topic Kinematics... again:/
"Inside the source tree" would mean downloading all of the LinuxCNC source (which is here ) and putting your new kinematics file in src/emc/kinematics with all the other kinematics files. You would then need to compile the whole of LinuxCNC. (Actually I am sure there is a way to only compile the bits you want, but I don't know it)

"Outside the source tree" means that the file can be anywhere you want, as long as it is in the same directory where you call the halcompile command from.

You won't get a new configuration, you will only get a new executable file called robotkins.ko or robotkins.so in the /usr/bin/ folder.

If you have halcompile then I think you already have linuxcnc-dev (and it looks like you do have halcompile).


if "ls" shows robotkins.c but "halcompile --install robotkins.c" says that the file doesn't exist, then I am a bit puzzled.
Actually, I am a lot puzzled.
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06 May 2017 10:24 - 06 May 2017 10:25 #92738 by rodw
Replied by rodw on topic Kinematics... again:/
from the same folder, try
sudo hal compile --install ./robotkins.c

Not saying it will work but sometimes it helps...

./ says look in the current folder. Maybe its got confused and is looking in roots home folder instead of yours.
Last edit: 06 May 2017 10:25 by rodw.
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06 May 2017 18:27 #92751 by Boogie
Replied by Boogie on topic Kinematics... again:/
Unfortunatelly i'm away from my linuxcnc computer but after carefully reading your advices guys i found one little thing at the begining that might be important:) the kinematics file from you Andy IS NOT robotkins.c but robokins.c ...
I'll try halcompile again tomorrow morning.

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07 May 2017 07:52 - 07 May 2017 07:55 #92765 by Boogie
Replied by Boogie on topic Kinematics... again:/
Progress with no errors:

bogicnc@bogicnc:~/Downloads$ sudo halcompile --install robokins.c
[sudo] password for bogicnc:
make KBUILD_EXTRA_SYMBOLS=/usr/realtime-3.4-9-rtai-686-pae/modules/linuxcnc/Module.symvers -C /usr/src/linux-headers-3.4-9-rtai-686-pae SUBDIRS=`pwd` CC=gcc V=0 modules
make[1]: Entering directory `/usr/src/linux-headers-3.4-9-rtai-686-pae'
CC [M] /tmp/tmpAwBFRa/robokins.o
Building modules, stage 2.
MODPOST 1 modules
CC /tmp/tmpAwBFRa/robokins.mod.o
LD [M] /tmp/tmpAwBFRa/robokins.ko
make[1]: Leaving directory `/usr/src/linux-headers-3.4-9-rtai-686-pae'
cp robokins.ko /usr/realtime-3.4-9-rtai-686-pae/modules/linuxcnc/
bogicnc@bogicnc:~/Downloads$


Thanks to the above a new real time component was created:
/usr/realtime-3.4-9-rtai-686-pae/modules/linuxcnc/robokins.ko

now how can i check what HAL pins are created? How to hook it up to HAL and INI files? Should i use Stepconf Wizard to create some basic configuration folder, i.e. robokins in:

/home/myfolder/linuxcnc/configs/robokins/

that contains robokins.hal and robokins.ini files, and then edit them to put D1, D2, and D3 HAL pins (and maybe other HAL pins that are used by robokins kinematics module - again: how to check what pins are created?)?
Last edit: 07 May 2017 07:55 by Boogie.

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09 May 2017 12:27 #92915 by andypugh
Replied by andypugh on topic Kinematics... again:/
Kinematics modules quite often don't create any HAL pins.
it seems that robokins (which is a slightly modified scarakins) creates the pins
scarakins.D1, scarakins.D2 and scarakins.D3.
The description of what these numbers means is part of the source code comments (and seems fairly clear).

So, to use the kins you would replace "loadrt trivkins" with "loadrt robokins" in your INI file, and then use "setp" statements to set the dimensions.
loadrt robokins
setp scarakins.D1 100
setp ...

You might prefer to edit robokins to create pins with robokins names.
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09 May 2017 18:34 #92943 by Boogie
Replied by Boogie on topic Kinematics... again:/
This is what i've done yesterday, well almost. I picked up scara sim configuration. It created it's own folder with HAL, INI and other files in 'configs' in linuxcnc folder. Then i tried to modify INI and HAL by removing 4th and 5th joints and axes. I've changes axis 0 type from ANGULAR to LINEAR. I've placed robokins instead of scarakins...and failed.
I'll try another approach tomorrow morning.

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09 May 2017 20:06 #92946 by andypugh
Replied by andypugh on topic Kinematics... again:/
The axes are linear. The joints might be rotary.

Which LinuxCNC version are you using?

When you say "..and failed", how did you fail?
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10 May 2017 19:22 #92991 by Boogie
Replied by Boogie on topic Kinematics... again:/
failed - i mean some series of errors popped out on linuxcnc startup.
Axes - linear, joints - angular or linear. Thank you for pointing that out. I meant in INI file there are sections [AXIS_0], [AXIS_1], etc. and type of motion is set there. TYPE = ANGULAR was changed to LINEAR as first joint in robokins is linear. I thought of [AXIS_xxx} as joints as if there is, say, 6 joints so there is 6 [AXIS_xx] sections in INI file.

I believe it is 2.7. I can't check it now:/

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