I am attempting to correct misalignment between my X and Y axis. I have measured it along the Y axis moving from + to - as moving from 0 to +.004". Since I have my fixture plate and everything else aligned to the x axis I would like to use
millkins.c
to make the adjustments but as written it would correct the skew by compensating the x axis.
To change it to Y axis it appears that only a few lines need to be changed. Can anyone confirm this as being correct? Chnaged these two areas and commented # out the original lines:
#pos->tran.x = joints[0] + joints[1]*(*(haldata->skew));
pos->tran.x = joints[0];
#pos->tran.y = joints[1];
pos->tran.y = joints[1] + joints[0]*(*(haldata->skew));
#joints[0] = pos->tran.x - pos->tran.y*(*(haldata->skew));
joints[0] = pos->tran.x;
#joints[1] = pos->tran.y;
joints[1] = pos->tran.y - pos->tran.x*(*(haldata->skew));
Code:
#include "kinematics.h"
#ifdef RTAPI
#include "rtapi.h" /* RTAPI realtime OS API */
#include "rtapi_app.h" /* RTAPI realtime module decls */
#include "hal.h"
struct haldata {
hal_float_t *skew;
} *haldata;
int kinematicsForward(const double *joints,
EmcPose * pos,
const KINEMATICS_FORWARD_FLAGS * fflags,
KINEMATICS_INVERSE_FLAGS * iflags)
{
#pos->tran.x = joints[0] + joints[1]*(*(haldata->skew));
pos->tran.x = joints[0];
#pos->tran.y = joints[1];
pos->tran.y = joints[1] + joints[0]*(*(haldata->skew));
pos->tran.z = joints[2];
pos->a = joints[3];
pos->b = joints[4];
pos->c = joints[5];
pos->u = joints[6];
pos->v = joints[7];
pos->w = joints[8];
return 0;
}
int kinematicsInverse(const EmcPose * pos,
double *joints,
const KINEMATICS_INVERSE_FLAGS * iflags,
KINEMATICS_FORWARD_FLAGS * fflags)
{
#joints[0] = pos->tran.x - pos->tran.y*(*(haldata->skew));
joints[0] = pos->tran.x;
#joints[1] = pos->tran.y;
joints[1] = pos->tran.y - pos->tran.x*(*(haldata->skew));
joints[2] = pos->tran.z;
joints[3] = pos->a;
joints[4] = pos->b;
joints[5] = pos->c;
joints[6] = pos->u;
joints[7] = pos->v;
joints[8] = pos->w;
return 0;
}
/* implemented for these kinematics as giving joints preference */
int kinematicsHome(EmcPose * world,
double *joint,
KINEMATICS_FORWARD_FLAGS * fflags,
KINEMATICS_INVERSE_FLAGS * iflags)
{
*fflags = 0;
*iflags = 0;
return kinematicsForward(joint, world, fflags, iflags);
}
KINEMATICS_TYPE kinematicsType()
{
return KINEMATICS_IDENTITY;
}
EXPORT_SYMBOL(kinematicsType);
EXPORT_SYMBOL(kinematicsForward);
EXPORT_SYMBOL(kinematicsInverse);
MODULE_LICENSE("GPL");
int comp_id;
int rtapi_app_main(void) {
int res = 0;
comp_id = hal_init("millkins");
if(comp_id < 0) return comp_id;
do {
haldata = hal_malloc(sizeof(struct haldata));
if(!haldata) break;
res = hal_pin_float_new("millkins.skew", HAL_IN, &(haldata->skew), comp_id);
if (res < 0) break;
hal_ready(comp_id);
return 0;
} while (0);
hal_exit(comp_id);
return comp_id;
}
void rtapi_app_exit(void)
{
hal_exit(comp_id);
}
#endif
