genserkins.c / gensrkins.h - and question about JOINTS

Good evening people,

Sorry to bother you , but now that the whole country (Argentina) is locked down and quarantined it looks like I came back to my robotics project :laugh: :laugh: .

I need to print out in the console the JOINT values from a PUMA560. I believe that's using genserkins, so I was checking the code and it seems my C is kind of rusty.

I was checking:

• go_matrix
• GO_MATRIX_DECLARE

to be honest, I don't really understand how it works though.


So my question is, can someone with better understanding can point me out HOW I should print the JOINT values for the robot?

What I like to print is just all the joints something like:

printf("%lf,%lf,%lf,%lf,%lf,%lf\n", JT[0], JT[1], JT[2], JT[3], JT[4], JT[5]);

I know the code above is wrong, but that's the idea and (it's embarrassing) but I did not get how to print those. I wanted to do that inside the compute_jinv, but anywhere it's fine.

My idea is to print the 6 values all the time... (Yes, I understand I will probably make the robot REALLY slow, because that's called all the time, or very often), but I will put that into a file, run a G-CODE, and exit.

Then I will use those values to do some math stuff outside.

THANK YOU VERY MUCH.

Cheers
Félix

Hi from Corona Lockdown Germany

you cand printout from a realtime kernal to a terminal
as it riuns within nanoseconds cycles

you can write your own component that counts up like 1Mio and thne prints to a file

Thanks!

I finally made it by adding some debug lines in the kinematicsForward function in src/emc/kinematics/genserkins.c.

I haven't finished reading the code, so I was looking at the wrong function, because it was pretty clear:

the printf lines are mine (and the rtapi_print was already there).

The result is something like this:

Which is the format I need to put those values into the V-REP and see if I can move the PUMA560. Yeah, I now doing the %.2f will lose some accuracy, but I think it's fine for this first approach.

Cheers
Félix

You should probably use rtapi_print rather than printf, as it is provided as a thread-safe version.

But I think it tends to want to print out floats in hex.