switchkins - using own kinematics module as kinstype=2

Hey there,

i want to use switchkins with my own kinematics module.

Currently I am using xyzac-trt-kins and it is working fine. In addition i want to use switchkins with my own kinematics module named "userkfuncs.c".

1. What do I need to change in the "userkfuncs.c" for switchkins to use it as kinsytpe=2?
2. In which directory do I put the "userkfuncs.c" file?
3. How do I compile the "userkfuncs.c" file?

Any help is appreciated, thanks!

Ref: linuxcnc.org/docs/devel/html/motion/switchkins.html
> 6. User kinematics provisions
>
> Custom kinematics can be coded and tested on
> Run-In-Place (RIP) builds. A template file
> src/emc/kinematics/userkfuncs.c is provided in the
> distribution. This file can be copied/renamed to
> a user directory and edited to supply custom
> kinematics with kinstype==2.
>
> The user custom kinematics file can be compiled
> from out-of-tree source locations for rt-preempt
> implementations or by replacing the in-tree
> template file (src/emc/kinematics/userkfuncs.c)
> for rtai systems.
>
> Preempt-rt make example:
>
> $ userkfuncs=/home/myname/kins/mykins.c make && sudo make setuid



Example:
$ mkdir /tmp/test ;# anywhere you want
$
$ cd your_LINUXCNC_GIT_TOP_DIRECORY
$ cd src
$ cp emc/kinematics/userkfuncs.c /tmp/test/try.c
$
$ # edit /tmp/test/try.c
$ # show your edits:
$ diff emc/kinematics/userkfuncs.c /tmp/test/try.c
diff emc/kinematics/userkfuncs.c /tmp/test/try.c
55a56
> rtapi_print("*************HELLO %s %d\n",__FILE__,__LINE__);
$
$ # build:
$ userkfuncs=/tmp/test/try.c make && sudo make setuid
Reading 205/205 dependency files
Done reading dependencies
!!!USERKFUNCS=/tmp/test/try.o
...
Linking ../rtlib/xyzac-trt-kins.so
...
$ # test:
$ halrun
halcmd: loadrt xyzac-trt-kins
Note: Using POSIX realtime
...
userkKinematicsSetup:
/tmp/test/try.c <xyzac> max_joints=16 allow_duplicates=1

*************HELLO /tmp/test/try.c 56
...

what I tried: sudo userkfuncs=/home/tim/linuxcnc-dev/custom_kinematics/userkfuncs.c make && sudo make setuid

When I want to comile the file I am getting the following error message:

"Es wurden keine Ziele angegeben und keine make Steuerdatei gefunden"

translation: "no directory assigned and no make file found"

What am I doing wrong?

I edited the "userkfuncs.c" file to my needs and build linuxcnc again. Everything compiles and builds fine without error messages.

I want to use userkfuncs as kinstype==2. But when switching, my kinematics module is not working. Any ideas?

Thanks for your help Aciera,

I managed to set up userkfuncs.c as my switchkinstype 2.

But there is still one problem I am facing. I want to adjust the xyzac-trt-kins (switchkins type 0) to my needs (reducing the TCP to my geomtrical machine rrors only).
So, to test, whether I am on the right path, I used the trtfuncs.c kinematics in my userkfuncs.c module. The problem is, that the macine is still in identity kinematics when changing to switchkins-type 2.

To make my problem clerar:
1. In which module is the TCP kinematics beeing calculated?
2. Why does switchkinstype 2 not use TCP, when I am using trtfuncs.c code?
3. Is there an example, where someone has written his own kinematics module or adjusted one to his needs?

I attached the userkfuncs.c file, which I am trying to use.

I have checked the hal pin and it is kinstype_is_2 that becomes true with my command: setp motion.switchkins-type 2.

Is it possible to change the trtfuncs.c file and build linuxcnc again? (I know that may cause problems in the future)