hal-core

Hi,
I just got the test hal component to compile and run with the runtest script in QT, so far so good.

The makefile that was included has COMP set to halcompile, it there a newer makefile that uses gcc?

I will take a look at your 3d stepfile and see if I can put something together in blender for my robot.

I think I only need the hostmot2 and hm2_eth drivers for the mesa interface

Hi,
I used that new makefile and everything is looking good, thanks!

Hi Grotius,

Here is a 3d model of the robot arm with the welding head, the robot model isn't exact but the joints are in the correct location.
Please let me know if this will work for the simulation

 

Hi,
I was able to compile and run this project that you posted:
github.com/grotius-cnc/Skynet_Robot_Cont.../releases/tag/1.0.21

Just had to modify the paths a bit and take out the ethercat parts from the hal file.

Tomorrow I will try loading my model files and robot settings and see what happens.
Looking good so far

Hi,

Nice drawing !
 

For other users. To load and preview step files like this, you can use the program Mayo.
It can be found over here : github.com/grotius-cnc/mayo/releases/tag/v1.0.0

This is indeed a nice starting point for testing, good found!
github.com/grotius-cnc/skynet_robot_cont.../releases/tag/1.0.21
It does the stepper output quite nice from what i remember, but not optimal.
But nevertheless a good example to get familar with code techniques.

If you look at hal-core the code technique is different.
It uses a hal-component (kernel module) that make's usage of c++
helper libs like kdl, opencascade etc.

Because the kernel module is master of the app, the program is performed from kernel land wich is much faster then when performing your app from a userland app.












 

Hal-core update.

Hal-core has now a installer wich can install the following updated packages for you :

- opencascade with image support.
- kdl kinematics
- qt
- hal-core

Today i will look to create a stepgen component with the ruckig s-curve integrated instead of the lineair acc/dcc curve.
After that i can finish the motion planner.
So far so good, and have fun !