QTPlasmaC with six axis

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3 years 3 weeks ago #282664 by mariusl
Replied by mariusl on topic QTPlasmaC with six axis
I will be testing the first iteration of the new six axis kinematics for this project today. I will give feedback once I have some results.
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Marius


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3 years 3 weeks ago #282665 by mariusl
Replied by mariusl on topic QTPlasmaC with six axis


It will be interesting to see how that works out with the motion planner falling back to one line look ahead.

I have been wondering about this too. Recent tests with just 1 rotary axis made it unusable due to the 1 line look ahead.
That is why we are looking at using a 5/6 axis kinematics and not the trivkins. 
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Marius


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3 years 3 weeks ago #282667 by mariusl
Replied by mariusl on topic QTPlasmaC with six axis
@Phill

I did a pull and it says that my branch is up to date with remote. Got this error.
Code:
Traceback (most recent call last): File "/home/plasma/linuxcnc-dev/share/qtvcp/screens/qtplasmac/qtplasmac_handler.py", line 2877, in <lambda> self.w.jog_c_plus.pressed.connect(lambda:self.gui_button_jog(1, 'c', 1)) File "/home/plasma/linuxcnc-dev/share/qtvcp/screens/qtplasmac/qtplasmac_handler.py", line 2049, in gui_button_jog self.kb_jog(state, ['x','y','z','a','b'].index(joint), direction, shift) ValueError: 'c' is not in list


 
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Marius


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3 years 3 weeks ago #282668 by phillc54
Replied by phillc54 on topic QTPlasmaC with six axis
That was one of the errors I mentioned earlier, have you pulled since my last update?
 

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3 years 3 weeks ago #282669 by mariusl
Replied by mariusl on topic QTPlasmaC with six axis

That was one of the errors I mentioned earlier, have you pulled since my last update?

 
Just noticed that I am not in sync. I am having issues with connecting to github. 
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Marius


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3 years 3 weeks ago #282673 by mariusl
Replied by mariusl on topic QTPlasmaC with six axis
I am up to speed now so I can test. Thanks a lot.
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Marius


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3 years 3 weeks ago #282675 by Aciera
Replied by Aciera on topic QTPlasmaC with six axis

That is why we are looking at using a 5/6 axis kinematics and not the trivkins. 

I don't quite see how that would make a difference as the interpreter is totally ignorant of any custom kinematic. So in a way all it 'knows' is trivkins and the moment it sees a move containing anything other than X,Y,Z it falls back to one line look ahead.
Sound interesting though so please do report back.

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3 years 2 weeks ago #282883 by mariusl
Replied by mariusl on topic QTPlasmaC with six axis
@Phill, I am busy with the integration of kinematics test config and your 6 axis config into a real machine config. I get this error that does not really show what it is wanting from me.
Code:
Traceback (most recent call last):   File "/home/plasma/linuxcnc-dev/bin/qtvcp", line 545, in <module>     _qtvcp = QTVCP()   File "/home/plasma/linuxcnc-dev/bin/qtvcp", line 294, in __init__     window.handler_instance.initialized__()   File "/home/plasma/linuxcnc-dev/share/qtvcp/screens/qtplasmac/qtplasmac_handler.py", line 349, in initialized__     self.set_axes_and_joints()   File "/home/plasma/linuxcnc-dev/share/qtvcp/screens/qtplasmac/qtplasmac_handler.py", line 3044, in set_axes_and_joints     self.w['home_{}'.format(axis)].set_joint(self.coordinates.index(axis)) ValueError: substring not found
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Marius


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3 years 2 weeks ago #282899 by mariusl
Replied by mariusl on topic QTPlasmaC with six axis
@Phill, I tried to see the problem. I am sure something is wrong with the code that sets up the axis and kinematics. I am not using trivkins but a 6 axis kinematics. It seems that some stuff is coded for trivkins. I am not up to speed with python any more so I am not sure what to do there. I did change the code to add axis abc and then it loads but I am not sure if everything is going to work.
Code:
def set_axes_and_joints(self): kinematics = self.iniFile.find('KINS', 'KINEMATICS').lower().replace('=','').replace('trivkins','').replace(' ','') or None #kinstype = None self.coordinates = 'xyzabc' !!!!!! here I just added the "abc"
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Marius


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3 years 2 weeks ago #282946 by phillc54
Replied by phillc54 on topic QTPlasmaC with six axis

@Phill, I tried to see the problem. I am sure something is wrong with the code that sets up the axis and kinematics. I am not using trivkins but a 6 axis kinematics. It seems that some stuff is coded for trivkins. I am not up to speed with python any more so I am not sure what to do there. I did change the code to add axis abc and then it loads but I am not sure if everything is going to work.
Code:
def set_axes_and_joints(self): kinematics = self.iniFile.find('KINS', 'KINEMATICS').lower().replace('=','').replace('trivkins','').replace(' ','') or None #kinstype = None self.coordinates = 'xyzabc' !!!!!! here I just added the "abc"

self.coordinates = 'xyz' is just a default minimum fallback in case the coordinates are not specified in the [KINS] section of the INI file.
Did you have something like:
Code:
KINEMATICS = 6_axis_plasma coordinates=xyzabc

Maybe add a print statement immediately before line 3038: for axis in 'abc':
Code:
print(f"\nself.coordinates={self.coordinates}\nself.axes={self.axes['valid']}\n")
to ensure that all axes appear in coordinates.

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