Hi Arciera,
Did you had a look at the github code, if it compiles?
If not, i have to look at it.
At the moment finishing the mdi commands. Have to do the cartesian mdi.
What's left to do is moving in tool direction, Arciera's request.
I am really impressed by the realtime performance. Later on next week i will make some video's to show it.
Now also showing when joint limit is reached. Then the button color become's red. Implementing this failsafe logic
into the program is quite a lot of work.
For the controls i now have working :
1. joint move, j0,j1,j2,j3,j4,j5 with max deg a second.
2. cart move x,y,z with max lineair speed and acc-dcc in s-curve
3. tcp rotation in euler x,y,z with max deg a second.
4. joint limits
5. mdi joint command. The joint's will end at the same time.
6. live hal mode - demo mode
7. tools
8. realtime position stream in base-thread.
9. testing on ethercat hardware
When the controls are done and everything works how it should. I will integrate the pendant style again.
I got more and more the feeling this is a very good solution. It's just like streaming a netflix movie.
Most of the readers know we have managed to implement the dxfrw library this week with another program.
This break's open a way that we can load 3d dxf files into this program and for example generate a 3d cut path for the robot.
So we can go quite advanched soon !
