Virtual B axis

gistfile1.txt

HAL: 

net B-pos joint.4.motor-pos-cmd joint.4.motor-pos-fb
net jogwheel joint.4.jog-counts
net jogwheel axis.b.jog-counts
net b-jog touchy.jog.wheel.b joint.4.jog-enable axis.4.jog-enable
net jog-speed axis.b.jog-scale


Kinematics (virtualbkins.c)

/********************************************************************
* Description: manualbkins.c
*   Kinematics for a mill with a manual swinging head
*
*   Derived from a work by Fred Proctor & Will Shackleford
*
* Author: andypugh
* License: GPL Version 2
* System: Linux
*    
* Copyright (c) 2020 All rights reserved.
*
* Last change:
********************************************************************/

#include "kinematics.h"		/* these decls */
#include "rtapi_math.h"
#include "hal.h"


int kinematicsForward(const double *joints,
		      EmcPose * pos,
		      const KINEMATICS_FORWARD_FLAGS * fflags,
		      KINEMATICS_INVERSE_FLAGS * iflags)
{
    double s = sin(pos->b * M_PI/180);
    double c = cos(pos->b * M_PI/180);
    double sc2 = s * s + c * c;
    pos->tran.x = (joints[2] * s + joints[0] * c) / sc2;
    pos->tran.y = joints[1];
    pos->tran.z = (joints[2] * c - joints[0] * s) / sc2;
    pos->a = joints[3];
    pos->b = joints[4];
    pos->c = joints[5];
    pos->u = joints[6];
    pos->v = joints[7];
    pos->w = joints[8];

    return 0;
}

int kinematicsInverse(const EmcPose * pos,
		      double *joints,
		      const KINEMATICS_INVERSE_FLAGS * iflags,
		      KINEMATICS_FORWARD_FLAGS * fflags)
{
    double s = sin(pos->b * M_PI/180);
    double c = cos(pos->b * M_PI/180);
    joints[0] = pos->tran.x * c - pos->tran.z * s;
    joints[1] = pos->tran.y;
    joints[2] = pos->tran.z * c + pos->tran.x * s;
    joints[3] = pos->a;
    joints[4] = pos->b;
    joints[5] = pos->c;
    joints[6] = pos->u;
    joints[7] = pos->v;
    joints[8] = pos->w;

    return 0;
}

/* implemented for these kinematics as giving joints preference */
int kinematicsHome(EmcPose * world,
		   double *joint,
		   KINEMATICS_FORWARD_FLAGS * fflags,
		   KINEMATICS_INVERSE_FLAGS * iflags)
{
    *fflags = 0;
    *iflags = 0;

    return kinematicsForward(joint, world, fflags, iflags);
}

KINEMATICS_TYPE kinematicsType()
{
    return KINEMATICS_IDENTITY;
}

#include "rtapi.h"		/* RTAPI realtime OS API */
#include "rtapi_app.h"		/* RTAPI realtime module decls */
#include "hal.h"

EXPORT_SYMBOL(kinematicsType);
EXPORT_SYMBOL(kinematicsForward);
EXPORT_SYMBOL(kinematicsInverse);
MODULE_LICENSE("GPL");

int comp_id;
int rtapi_app_main(void) {
    comp_id = hal_init("manualbkins");
    if(comp_id < 0) return comp_id;

    hal_ready(comp_id);
    return 0;
}

void rtapi_app_exit(void) { hal_exit(comp_id); }