ok .... Today I make all the necessary pin to make a jog in world mode in deltakinematics with handwheel ... ... very funny .... the macanism:
if is-teleop & is-manual & selected-axis is ON condition than set encoder.reset to 0 and add encoder-count/selected-increment convert to float in these way : emcpose * pos->tran--selected axis + encoder-value......
Code:
int kinematicsInverse(const EmcPose * world,
double * joints,
const KINEMATICS_INVERSE_FLAGS *iflags,
KINEMATICS_FORWARD_FLAGS *fflags)
{
double x0, y0, z0, theta1, theta2, theta3;
int status;
if ( condition ....)
{x0 = world->tran.x + encoder-value (for example);}
else if (condition ....)
{ y0 = world->tran.y+ encoder-value (for example);}
............
else {
x0 = world->tran.x;
y0 = world->tran.y;
z0 = world->tran.z;
joints[3] = world->a;
joints[4] = world->b;
joints[5] = world->c;
joints[6] = world->u;
joints[7] = world->v;
joints[8] = world->w;
}
theta1 = theta2 = theta3 = 0;
status = delta_calcAngleYZ(x0, y0, z0, &theta1);
obviusly when the is-teleop & is-manual & selected
axis than condition is OFF emcpose*pos return immediately to original value .... how to add definitively some value in kinematics to emcpose*pos? Appreciate any link to study the situation.
I try to add the code on foward kins .... dro show the modified new quote but nothing move. Than I put the code on inverse kins....
Tanks
Regards
giorgio
