However using them in gcode trips a message
thanks for report,
fixed at today's commit 2216a4ba8 (force-pushed)
Would it be possible to expand this approach to three
kinematics, say for a tool coordinate mode?
in the dgarr/s_kins branch, switchable kinematics modules
must provide two functions:
Code:
kinematicsSwitchable(); //indicates kins can be switched
kinematicsSwitch(int switchkins_type); //accepts integer for kins type
A switchable kinematics module must handle this integer type
in both its kinematicsForward() and kinematicsInverse()
routines.
genser-switchkins.c supports 2 types (0 and 1),excerpt:
Code:
int kinematicsSwitch(int new_kins_type)
{
switchkins_type = new_kins_type;
switch (switchkins_type) {
case 0: rtapi_print_msg(RTAPI_MSG_INFO,
"kinematicsSwitch:genserkins\n");
*switchdata->kinstype_is_0 = 1;
*switchdata->kinstype_is_1 = 0;
break;
case 1: rtapi_print_msg(RTAPI_MSG_INFO,
"kinematicsSwitch:Trivkins\n");
*switchdata->kinstype_is_0 = 0;
*switchdata->kinstype_is_1 = 1;
break;
...
int kinematicsForward(const double *joints,
...
switch (switchkins_type) {
case 0: return genserKinematicsForward(joints, pos, fflags, iflags);break;
default: return trivKinematicsForward(joints, pos, fflags, iflags);
...
int kinematicsInverse(const EmcPose * pos,
...
switch (switchkins_type) {
case 0: return genserKinematicsInverse(pos, joints, iflags, fflags);break;
default: return trivKinematicsInverse(pos, joints, iflags, fflags);
(the *switchdata->kinstype_is_* vars are used as convenience hal pins to
alter a (pyvcp) display)
Refs:
github.com/LinuxCNC/linuxcnc/blob/dgarr/...ser-switchkins.c#L74
github.com/LinuxCNC/linuxcnc/blob/dgarr/...er-switchkins.c#L119
github.com/LinuxCNC/linuxcnc/blob/dgarr/...er-switchkins.c#L150
I have no ideas about tool coordinates but if the required
information can be made available on hal pins, it can
be read by your custom kinematics module.
