USERKINS(9)

NAME
userkins - Template for user-built kinematics

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:

    $ cd mydir
    $ [sudo] halcompile --install userkins.comp
    # Note:
    #      sudo is required when using a deb install
    #      sudo is *not* required for run-in-place builds
    # $ man halcompile for more info

Specify userkins in an ini file as:

    [KINS]
    KINEMATICS=userkins
    JOINTS=3
    # the number of JOINTS must agree with the
    # number of joints used in your modified userkins.comp

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