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- hellvetica
- hellvetica
11 Sep 2025 11:16
Recompiling the motmod modules to expose pos-cmd pins was created by hellvetica
Recompiling the motmod modules to expose pos-cmd pins
Category: Advanced Configuration
Hi, I'd like to control my robot arm directly using linuxcnc.
So far I've been using MDI and external offset pins to move the robot but I've had some issues with latency (mdi) and absolute positioning (external offsets). (When the robot starts, the motor's target position is not set to 0 but some other value close to 0 like 18 or -23 for some reason)
I'd like to pretty much hack the motion module so I can expose the pos-cmd pins that the trajectory planner sets so i can just connect to hal and set my cartesian position as I wish and not go in all these roundabout ways to get the robot to move.
The mini PC running the robot has a debian image with linuxcnc preinstalled.
1. What would be the easiest way to modify the source to achieve this?
2. How would I build the module and use it in my existing linuxcnc installation?
I'm not at all wary of digging into the C code, but I've never build linuxcnc myself.
Thanks for any tips
So far I've been using MDI and external offset pins to move the robot but I've had some issues with latency (mdi) and absolute positioning (external offsets). (When the robot starts, the motor's target position is not set to 0 but some other value close to 0 like 18 or -23 for some reason)
I'd like to pretty much hack the motion module so I can expose the pos-cmd pins that the trajectory planner sets so i can just connect to hal and set my cartesian position as I wish and not go in all these roundabout ways to get the robot to move.
The mini PC running the robot has a debian image with linuxcnc preinstalled.
1. What would be the easiest way to modify the source to achieve this?
2. How would I build the module and use it in my existing linuxcnc installation?
I'm not at all wary of digging into the C code, but I've never build linuxcnc myself.
Thanks for any tips
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