NAME

corexy_by_hal - CoreXY kinematics

SYNOPSIS

loadrt corexy_by_hal [count=N|names=name1[,name2...]]

DESCRIPTION

Implement CoreXY forward and inverse transformations in HAL. This component provides an alternative method for implementing CoreXY kinematics.

In the INI file, use:

[KINS]KINEMATICS=trivkins coordinates=xyz kinstype=both

This component accepts two joint (j0,j1) motor position commands for a trivkins coordinates=xyz configuration and computes equivalent CoreXY motor commands for two motors identified as alpha,beta. Similarly, the component accepts feedback values for the alpha,beta motor controllers and converts to equivalent joint (j0,j1) motor position feedback values.

Notes:

1) Using trivkins with this module allows home switches to trigger according to the Cartesian x,y positions

2) Joint pin names are based on coordinates=xyz and the corresponding joint number assignments used by trivkins so j0==x, j1==y (man trivkins for more information)

3) CoreXY kinematics can also be implemented using the kinematics module named corexykins with home switches triggered by the j0,j1 motor positions. (man kins for more information)

FUNCTIONS

corexy-by-hal.N (requires a floating-point thread)

PINS

corexy-by-hal.N.alpha-fb float in

typ: feedback from alpha motor controller

corexy-by-hal.N.beta-fb float in

typ: feedback from beta motor controller

corexy-by-hal.N.j0-motor-pos-cmd float in

typ: from joint.0.motor-pos-cmd

corexy-by-hal.N.j1-motor-pos-cmd float in

typ: from joint.1.motor-pos-cmd

corexy-by-hal.N.j0-motor-pos-fb float out

typ: to joint.0.motor-pos-fb

corexy-by-hal.N.j1-motor-pos-fb float out

typ: to joint.1.motor-pos-fb

corexy-by-hal.N.alpha-cmd float out

typ: command to alpha motor

corexy-by-hal.N.beta-cmd float out

typ: command to beta ts motor

AUTHOR

Dewey Garrett based on forum post from nbremond

LICENSE

GPL