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Hi,to my hal file: loadusr -W hal_manualtoolchangenet tool-change iocontrol.0.tool-change => hal_manualtoolchange.change
net tool-changed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared loadusr linuxcncrsh -n --name localhost, -p , --port 5007 I added the line in bold at the end of my hal file, and there didn't appear any error when I ran the CNC manually the Axis Gui. Everything works. But when i tried to run in this command "telnet localhost 5007", through the Terminal i got this error:Trying ::1...
Connection failed: Conexión rehusada
Trying 127.0.0.1...
Connected to localhost.
Escape character is '^]' I am using parallel port 0x378 What is missing or is wrong?Thanks a lot.

Qtvcp is included with linuxcnc.
linuxcnc.org/docs/devel/html/gui/qtvcp.html
and Gladevcp
linuxcnc.org/docs/devel/html/gui/gladevcp.html

Both can be used for GUI building, Qtvcp is easier then Gladevcp I would say.

troy wrote:

I have verified that the solution is feasible.

This can be a development direction of linuxcnc in the future, I am very willing to participate in it, If the development thread starts.

Hello troy!
We need you to share your code so that it can be improved and hopefully merged back in LinuxCNC. Is there any chance that you could publish it in any way?

Hi Grotius,

thanks for all the work you have put into this project to bring s curves to LinuxCNC. That's a really impressive achievement. Julian told me about your work.

I have not yet managed to work through all the papers in detail which you have linked so I might be a little bit underinformed but your definition of your torsion for 3D clothoids seems to be a bit unusual (or I don't understand it).

Is your intention like this?
theta0 & kappa0 -> xy => kappa0 = curvature
theta1 & kappa1 -> z => kappa1 = torsion for the 3D case

This would fit to your first approach to extend a clothoid to 3D by simply adding a second clothoid to the z dimension (which does not result in a curve with perfect curvature and torsion transition but probably way better than before). However, this is not how curvature and torsion of a 3D curve are defined in general so it will not fit to the 3D clothoid description in the Frego paper.

Best regards,
Fabian

Flex GUI might be just what you need.
gnipsel.com/linuxcnc/flexgui/index.html

JT