How to edit a source code of a tripod ?

I'm currently working on a hyprid cnc where it has a tripod with 2DOF serial arm at it's end, the problem is how to configure the kinematics inside linuxcnc in order to move the machine right ?

I think you would need to write a custom kinematics module.

Have you read this?

linuxcnc.org/docs/2.8/html/motion/kinematics.html

Yes i have Andy, but still don't know how to implement this code and configure it like a typical X Y Z CNC, what it is written in ? how to define other parameters like lead screw lead ? these details i can't figure it out by my self so, if there is any example from A to Z on how to make even any parallel robot ....i will be so glad

Kinematics files are written in C.

Have you at least figured out the maths?

yes it will be something like that
link.springer.com/chapter/10.1007/978-3-319-60702-3_13
but i don't know where do i write these eqns.
i recently saw something called Vismach, it's used to import a cad model of the robot but i still can't see how to do that exactly? i saw some pages on linuxcnc forum but i didn't help me ...

Mohamed wrote: yes it will be something like that
link.springer.com/chapter/10.1007/978-3-319-60702-3_13
but i don't know where do i write these eqns.

The equations go in the Kinematics file. Converted in to C.

How can i find the C file for my tripod or the kinematics file ?

The Kinematics file is a C file. You need to write it, following the guidance in the documentation I linked to earlier.

ok after that how can i run the file, and how can i link it with vismach, do i need .ini file or .hal file?

yes you do need the 3Joints
all rotary
the hal file is only to reconect to the POS feedback see a SIM File of your choice
PREFERD sample-configs/sim/tklinuxcnc/tripod.ini
this uses the tripod kinetics