RT component millkins_xyz never becomes ready

Hello LinuxCNC

I am trying to use the RT component millkins_xyz. I have tried using it on two different instances of linuxcnc. Both are simulations though.
To install did the following: In hal: The result is forever waiting for the component to become ready.

what am i doing wrong?

bonus info: the millkins component have worked fine.

You would need to addf it to a thread.

Thank you for your response.
after loadrt and before the setp, does not solve the issue.

Addtionally there is no need for addf using trivkins or millkins, probably because the Kinematics components have no functions that needs to be attached to a thread.

The file needs to declare that it is ready, using the same name as it is loaded with.
If the file name and the comp_id inside the file don't match, then the system will never see the component as ready.

The issue is that the file is called "millkins_xyz" but the comp_id is "millkins"

Brilliant, thanks andy

i decided to rename the file to millkinsxyz.c and refactor millkins to millkinsxyz

in hal:
Now linuxcnc will run, but i get this warning in the console, is it something to worry about? i have two y servo one each side of a bridge

Stormholt wrote: Individual axis homing is not currently supported for
KINEMATICS_IDENTITY with duplicate axis letter <Y>

You should probably set up your millkins to handle tandem joints. (probably in the same way as trivkins does) and to report the same kinstype as trivkins does. Trivkins defaults to "Identity" but for a tandem motor setup you probably need "Both", Then the machine will start up and home in "Joint mode" (0,1,2,3) and switch to "World Mode" (X, Y, Z) after homing.

Does your Millkins output the Y position into two joints?

if i understand your question correctly, then no
using a skew value of -0.005 and using g53 g0 x1, y1, z-1
x feedback is 1 (because y subtracts and z adds)
yr(right) is 0.995 (corrected by z as it should be
yl(left) is -1 (not corrected)

I think you are using signal names? Those are specific to your config and so are not telling us very much.

Have you looked at the kins file itself? It is pretty easy to see what it does, but for a dual-motor gantry you need to put the right numbers in the joint outputs. (and return "Both" in KinematicsType)

Indeed they are specific to my config, however they are pins from a PID component that doesn't do anything in regards to pid.

Im sorry, i dont understand what is you mean by "kins file" and whether millkins output the position into two joints.

using trivkins i did use the kinstype BOTH, and i understand that is not supported with millkin_xyz, but it should be modified to do so.

by "kins file" I mean millkins.c (or whatever you have called it.)

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