SYNOPSIS
loadrt userkins [count=N|names=name1[,name2…]]
DESCRIPTION
The userkins.comp file is a template for creating kinematics that can be user-built using halcompile.
The unmodified userkins component can be used as a kinematics file for a machine with identity kinematics for an xyz machine employing 3 joints (motors).
USAGE
Copy the userkins.comp file to a user-owned directory (mydir).
Note: The userkins.comp file can be downloaded from:
github.com/LinuxCNC/linuxcnc/raw/2.8/src/hal/components/userkins.comp
where 2.8 is the branch name (use master for the master branch)
For a RIP (run-in-place) build, the file is located in the git tree as:
src/hal/components/userkins.comp
Edit the functions kinematicsForward() and kinematicsInverse() as required.
If required, add HAL pins following examples in the template code.
Build and install the component using halcompile:
Specify userkins in an ini file as:
Note: the manpage for userkins is not updated by halcompile --install
To use a different component name, rename the file (example mykins.comp) and
change all instances of userkins to mykins.
NOTES
-
The fpin pin is included to satisfy the requirements of the halcompile utility but it is not accessible to kinematics functions.
-
HAL pins and parameters needed in kinematics functions (kinematicsForward(), kinematicsInverse()) must be setup in a function (userkins_setup()) invoked by the initial motion module call to kinematicsType().
FUNCTIONS
- userkins.N.fdemo (requires a floating-point thread)
-
PINS
- userkins.N.fpin s32 out (default: 0)
-
pin to demonstrate use of a conventional (non-kinematics) function fdemo
AUTHOR
Dewey Garrett
LICENSE
GPL