How would you design a real time application for cnc control in c / c++ ???

Aciera wrote:

I actually take that back I tried again and it compiles on a fresh install of your ISO.

Using Grotius's robot project with the Orocos Kinematics, can you use the G-Code RoboDK post processor?

Yeah I did not realize you had a different setup for your servo drives, are they set up with a special component?

Let us know how you get on, it will be interesting to see if you can get that G-Code post processor working with RoboDK programs.

Just a heads up, G2/G3 commands are direction sensitive while roboDKs(and all robots really) CIRC command is direction agnostic. So you either need to implement logic in the post processor to interpret the direction correctly and choose G3 or G2 or remap the way linuxcnc handles a circular command. They are handled a bit differently which makes direct translation difficult. Also if I remember the software prefers radius arcs, which linuxcnc doesn't recommend.

A new download link for the Debian iso : debian buster iso with lcnc, kdl, qt, opencascade etc. Will be up in half an hour. Filesize : 3.3Gb.

Hi Arciera,

To run it with Lcnc just look at this release : github.com/grotius-cnc/Skynet_Robot_Cont.../releases/tag/1.0.15
There are about 20 releases in total now.
Each release just show's something different. (just as a timeline)
In the above release the project is running alongside lcnc. Read the github release page.
In later versions it run't without lcnc. In the 2 zip file is the code.
The main thing is to replace in the ini file, axis with your app, then it will run lcnc trough the ini file.
Minimal required to load lcnc trough ini file is loading motdot. You will see this in the config in the zip files.

I'm now a bit at a loss as to how to get LCNC and Skynet working together. LCNC crashes as soon as I run Skynet and Skynet crashes as soon as I start LCNC.
That's correct with later releases.

Does this only work with Ethercat?
It works without Etercat, just outcomment ethercat pins etc. in the ethercat hal file. You can connect a mesa or lpt1 as normal.

The overall problem of the first releases is the actual realtime performance.

The best performance was during the latest release. Where the timer had no pause interval. This results in a more complex
motion controller. But for testing it's nice to try.
In this latest release the last line of the kinematic model has a tiny typo, repared over here.here :

Ok. Finally just reinstalled everything and now I have LCNC working AND the Skynet_project compiled.
Oke nice. Ps, i alway's leave the orginal lcnc besides a rip install.

In general don't expect a 100% working robot controller. If you can run the latest release, you can test in my view the best possible
realtime performance. That would be a basis to move on from.

**
I guess you meant the .pro file with the include paths.
There is also a .pro.user file. Your error picture showed my directory structure : home/user/... That correpondent's your error output.
I think you have something like home/arciera/... So that's a problem with links inside the pro.user file.

What i must do next time is distribute it without the user.pro file. Then you must configure the project when qt is started. This will
setup correct filepath's for you. So deleting the pro.user file would fix your problem in the future.

**
The problem of being able to switch between trivial and coordinated kinematics using KDL will also need to be adressed.
Just give me a detailled practical example of the problem. Then i can think about it.

Have a nice day !