Man page viewers like khelp are able to convert hostmot2(9) into a link
to the hostmot2 manual page, while they do not understand 'man hostmot2'
or similar notation. Thus, converted references to the regular fomat used
in manual pages.
1) Control kinematics type by hal pin: motion.switchkins-type
The _integer_ value of this float hal pin is passed
to the kinematicsSwitch() function to select a
kinematics type.
2) Uses M68 (analog out) in a hal net like:
net :kinstype-select <= motion.analog-out-0N
net :kinstype-select => motion.switchins-type
3) Supports 3 switchable kinematic types (0,1,2)
Switching kinstype is managed by user supplied mcodes
that provide for interp-motion syncrhonization:
M428/M429/M130 (remap Mcode examples)
M128/M129/M130 (user Mcode examples with limits updates)
4) API change for kinematics:
All kinematics modules must export functions:
kinematicsSwitchable() (return 1 if supported)
kinematicsSwitch() (return 0 if ok)
or use macro (from kinematics.h):
KINS_NOT_SWITCHABLE
5) Provide a template (userkfuncs.c) and support building a
user kinematics module for RIP builds
6) Supported modules:
xyz[ab]c-trt-kins
pumakins
scarakins
genserkins
genhexkins
5axiskins (bridgemill)
7) file updates for src/emc/kinematics/:
genserfuncs.c: separated out genserkins functions
trtfuncs.c: separated out xyz[ab]c-trt-kins functions
userkfuncs.c: template user kins functions
ugenserkins.c: separated user program bin/genserkins
(declining support, not working)
8) Docs (asciidoc fmt): docs/src/motion/switchkins.txt
******************************************************
Initial branch 24nov19
Based on work of rushabh,plopes9000,jskangas
particularly:
https://forum.linuxcnc.org/10-advanced-configuration/31813-tcp-5-axis-kinematics?start=90#124848
******************************************************
misc updates:
scara use 6 joints as supported by vismach scaragui
switchkins sims: [RS274NGC]FEATURES=8 obsolete
[RS274NGC]HAL_PIN_VARS (default is 1(enable))
update genserkins jts 6,7,8 == u,v,w
with appropriate [KINS]JOINTS value
support for 5axiskins (bridgemill), refactor to:
1) support module 'coordinates' parameter and allow duplicate
letters for multiple joints for an axis letter
2) support A,U,V one-to-one to assigned joint
3) support switchkins
puma560gui: message if missing .obj files
Allows unconventional mapping of coordinate letters to
joint numbers with the module 'coordinate' parameter in
the same way trivkins uses the parameter.
Default mapping is unchanged:
xyzac-trt-kins: x:0,y:1,z:2,a:3,c:4
xyzbc-trt-kins: x:0,y:1,z:2,b:3,c:4
groff treats '-' (the character you get when you hit the "minus" key on
the keyboard) as "hyphen", not as "minus". Thus it renders incorrectly
in some locales, and line-wraps strangely.
groff treats the two-character sequence "\-" as "minus", and the
four-character sequence "\(hy" as "hyphen".
Details here: https://lists.debian.org/debian-devel/2003/03/msg01481.html
This commit replaces every instance of "-" in our manpages where the
meaning is "minus" with "\-", so it works right.
This fixes many lintian warnings.
"man --warn" (run by lintian) let us know that ".R" is not a valid macro.
It was not clear to me what groff macro the author intended there,
so I just removed it. The manpage renders fine and legible to me,
and without warnings.
Signed-off-by: Sebastian Kuzminsky <seb@highlab.com>
Add strut length correction for non-captive screw actuators with
universal (cardanic) joints, provide parameters for joint axes unit
vectors and screw lead, add pins to show correction values.
Update kins.9 manpage.
Signed-off-by: Andrew Kyrychenko <amkyrychenko@gmail.com>
Add spindle-offset pin to facilitate adjusting spindle position.
Convert pins to parameters where possible.
Document new pins.
Signed-off-by: Andrew Kyrychenko <amkyrychenko@gmail.com>
also:
put trivkins first in list (otherwise order alphabetically)
and at least mention all kins available in the distribution
Signed-off-by: Dewey Garrett <dgarrett@panix.com>
Retain man pages for gantrykins,gentrivkins -- add note that these
modules are superseded by trivkins and point to trivkins (kins) man page
Signed-off-by: Dewey Garrett <dgarrett@panix.com>
Parameters added for base and platform joints coordinates. Pins added
to control forward iterations. Cleaned from unused code. Manpage updated.
Signed-off-by: Andrew Kyrychenko <amkyrychenko@gmail.com>
Signed-off-by: Sebastian Kuzminsky <seb@highlab.com>
