28feb20 dgarr/s_kins branch update (e10cc60d371):
28feb20 later: (eed4edd7e)
1) In genser-switchkins.c, support:
motion.switchkins-type == 2
2) provide template file named switchtype2funcs.c
demonstrating functions:
switchtype2KinematicsForward()
switchtype2KinematicsInverse()
3) demonstate usage in puma560-switchkins.ini
A user can now modify just one file (switchtype2funcs.c)
to add any code necessary to provide kinematics for
motion.switchkins-type==2
It is intended that user should not need to modify any
other files in order to maintain a common and stable
genserkins base. Bug fixes for genserkins should be
implemented in appropriate in-tree files.
Notes:
Code:
switchkins-type==0 is default at startup
switchkins-type==1 is reserved (and used by existing
switchable kinematics modules)
switchkins-type==2 is supported but implemented only
by a template that user can modify
as required
In the future, the switchtype2funcs.c template may be
used with other switchable kinematics modules (e.g.,
not limited to genser-switchkins).
Template Ref:
github.com/LinuxCNC/linuxcnc/blob/dgarr/...s/switchtype2funcs.c
