[SOLVED] axes follow other axes

bkt
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25 Jul 2014 01:06 #49101 by bkt

Replied by bkt on topic axes follow other axes

other .... in my c++ code I can link this:

#include <linuxcnc/canon.hh>

there is the same of

import emccanon
...
emccanon.STRAIGHT_TRAVERSE(line,x0+delta,y0,z0,0,0,0,0,0,0)

????

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andypugh
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25 Jul 2014 01:13 #49102 by andypugh

Replied by andypugh on topic axes follow other axes

k-1 wrote:
other .... in my c++ code I can link this:
#include <linuxcnc/canon.hh>
there is the same of
import emccanon

I think so. Does it work?

You probably do want to be working at the canon layer, rather than the MDI layer.

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bkt
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25 Jul 2014 02:40 #49105 by bkt

Replied by bkt on topic axes follow other axes

I don't now .... at the moment I study this new precious information ....

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bkt
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26 Jul 2014 02:26 - 26 Jul 2014 02:28 #49141 by bkt

Replied by bkt on topic axes follow other axes

I'm little bit confusing ... git.linuxcnc.org/gitweb?p=linuxcnc.git;a...80e5de935e15;hb=HEAD here we use these function inkinematitcs

107 int rtapi_app_main(void) {
 108     int result;
 109     comp_id = hal_init("5axiskins");
 110     if(comp_id < 0) return comp_id;
 111 
 112     haldata = hal_malloc(sizeof(struct haldata));
 113 
 114     result = hal_pin_float_new("5axiskins.pivot-length", HAL_IO, &(haldata->pivot_length), comp_id);
 115     if(result < 0) goto error;
 116 
 117     *(haldata->pivot_length) = 250.0;
 118 
 119     hal_ready(comp_id);
 120     return 0;
 121 
 122 error:
 123     hal_exit(comp_id);
 124     return result;
 125 }

and in the header of function there is this link

99 #include "hal.h"

but in linuxcnc.org/docs/html/hal/components_es.html#_hal_api_calls we talk about

hal_pin_bit_new.3hal
hal_pin_bit_newf.3hal
hal_pin_float_new.3hal
hal_pin_float_newf.3hal
hal_pin_new.3hal
hal_pin_s32_new.3hal
hal_pin_s32_newf.3hal
hal_pin_u32_new.3hal

In my deltakinematics I have to use

include "3hal.h"

?????

Last edit: 26 Jul 2014 02:28 by bkt. Reason: missing link

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bkt
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26 Jul 2014 03:01 #49142 by bkt

Replied by bkt on topic axes follow other axes

please try to tell me if I understood the use of pin hal

.....fowardkins.....

 pos->tran.x = joint[0] - (haldata->encoder1offset) .....

 .....inversekind.....

 joint[0] = pos->tran.x + (haldata->encoder1offset) .....

 ...........................
 ...........................

 int comp_id;
 int rtapi_app_main(void) {
     int result;
     comp_id = hal_init("mykinemaics");
     if(comp_id < 0) return comp_id;
  
     haldata = hal_malloc(sizeof(struct haldata));

  /* is correct this???? */   result = hal_pin_float_new("mykinemaics.encoder1offset", HAL_IO, &(haldata->encoder1offset), comp_id);




    hal_ready(comp_id);
     return 0;
 error:
    hal_exit(comp_id);
    return result;
}

in hal file instead imposed ENCODER_RATIO (or only one encoder with SCALE + encoder reset pin) and set adequately limit3. With limt3 I avoid that when pressed encoder.reset there is the following error axes...

I can use another

hal_pin_bit_new.3hal  /* or more correcly hal_pin_new.hal ???*/

for swich on end swich off offset with:

if ((haldata->myswich == 1){pos->tran.x = joint[0] - (haldata->encoder1offset)}
else {pos->tran.x = joint[0] .......}

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andypugh
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26 Jul 2014 03:03 #49143 by andypugh

Replied by andypugh on topic axes follow other axes

k-1 wrote:
include "3hal.h"

You probably don't even need that, as "comp" needs hal.h to create pins when making hal components, so probably automatically includes it.
However, there is no harm in including hal.h in your own kins file.

I think the .3hal actually just indicates which sectoion of the documentation it belongs in

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andypugh
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26 Jul 2014 03:05 - 26 Jul 2014 03:06 #49145 by andypugh

Replied by andypugh on topic axes follow other axes

k-1 wrote:

pos->tran.x = joint[0] - (haldata->encoder1offset)

HAL pins are always pointers, as they get moved around so that they point at the same bit of shared memory. (In practice the HAL "net" command just changes a set of pointers to all point at the same memory location)

So, you need

pos->tran.x = joint[0] - *(haldata->encoder1offset)

Last edit: 26 Jul 2014 03:06 by andypugh.

The following user(s) said Thank You: bkt

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bkt
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26 Jul 2014 22:02 #49173 by bkt

Replied by bkt on topic axes follow other axes

In order to try to connect hal pin to my kinematic, I write this two line in my hal file:

net enable_encoder1 motion.digital-in-00 => mydeltakins_catch.enable_encoder1

setp mydeltakins_catch.encoder1_offset encoder.1.position

The pin in my kinematic is write in this way .... (bit pin and float pin)

if((res = hal_pin_float_new("mydeltakins_catch.encoder1_offset", HAL_IO, &(haldata->encoder1_offset),comp_id)) != 0) goto error;
    if((res = hal_pin_bit_new("mydeltakins_catch.enable_encoder1", HAL_IO, &(haldata->enable_encoder1),comp_id)) != 0) goto error;

I don't Understand why linux cnc send me this error: value for 'encoder.1.position' invalid for float.

encoder.1.position is pin out float and mydeltakins_catch.encoder1_offset is pin IO float ... there are the same type of value ..... Why encoder.1.position is invalid??????

Obviously I must have misunderstood something .... but I do not know what.

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bkt
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26 Jul 2014 22:14 #49174 by bkt

Replied by bkt on topic axes follow other axes

it may be that the error is because I use sim_encoder and then encoder.1 .... I have not phisically connect the encoder to In pin.....