I'm wondering if there's a tutorial of some kind on writing new hal components
[00:32:23] <dgarr> http://www.linuxcnc.org/docview/html//hal_comp.html
thanks, looks like fun :)
what kind of comp are you working on?
a custom control law to track satelites
part of research for my masters research
Just wear a tin foil hat like everyone else!
haha, but then I can't watch my direct tv on a boat!
your thesis is marine sat tv?! LOL
No wonder the kids these days ar Kollage Edjoomakated
haha, well we sure try to make it as complicated as posible :)
like anything else it's really more about who's willing to give us money
Nobody if you keep watching Sat TV! =)
I have yet to see an ad that says "Will pay you to watch The Simpsons"
do you plan on compensating for the sway of the water?
ha, yea, if only. We're trying to convince the company to send us on a big boat so we can profile wave motion... for some reason they think we'll just sit in the sun
Well, DUH... they know you too well.
I think it was the cooler that said "BEER" that gave it away
yea, that's pretty much the whole problem, basically it amounts to having an IMU running some kind of kalman filter or similar to figure out roll and pitch and then running the dish motors the opposite ways
But running a motor constantly for that purpose seems overkill for some reason
what about a physical dampner
like they use for skyscrapers
or Marine Chronometer
that would probably work if your boat was at the same lat long all the time, but you'd have to adjust it all the time
the dish needs to be within 3 degrees
Sure, but I mean for to compensate for the swells
like if you're at anchor and just kinda bobbing around?
it would actually be interesting to see if that sort of thing worked... I don't know if that sort of thing has been done before
Been done for hundreds of years actually =)
[01:35:43] <Jymmm> http://www.stanleylondon.com/compboxfunct.htm
[01:36:20] <Jymmm> http://en.wikipedia.org/wiki/File:Tuned_mass_damper.gif
running an azimith/elevation motor is kind of a standard way of doing it, cause then you don't have to worry about setting it for a given lat/long, it's all automatic
[01:36:35] <Jymmm> http://en.wikipedia.org/wiki/Tuned_mass_damper
haha, yes, just without dish :)
I know that yachts already have that capabiity
oh, like they put tuned dampers in them, to smooth the ride?
that I don't know, it was just how I would aproach it. Not leaving it ALL to electronics, but to some mechanical too
right, so I think the reason the tuned mass dampers work well in bridges and buildings is because those things tend to resonate at certain freq so they can build these devices that basically dampen things over that small range of freq, I'm guessing if you did a FFT of boat vibrations you'd see more than a few resonate peaks
like I said I'd be interested in seeing if you could get down to less than 3 degrees with really nice bearings and a counter weight
Well... GIT ER DONE!!!!
haha, gotta figure out how to make these componenents first!
and then once that's done I get to play with my PUMA :)
what model puma?
there is a new serial kins in emc that needs testing :)
well, I just happen to have a couple serial kin robot arms laying around
I was just going to ask how well tested the kinematic and inverse kinematics are
kgartner: Once you start testing it, we'll know =)
haha, yea, I guess I've been warned
I looked through the source and it looked about the same as what I came up with, but I'll have to take a closer look now
cradek: that estop rung makes sense now ;)
very cool, I have yet to figure out what the difference between the 560 and 500 is
the 560 is 6 axis
I don't know what the 500 is
500 is 6 axis as well
my manuals for it say '500 series' so they must not be that far apart
ah - I think my manual say 500 series also.
does the 560 have coupling in the wrist axis? ie joint 5 moves joint 6
yes - if I understand what you are saying
yea, so I guess if we have the same manuals they must be pretty much the same
this is from the manual http://www.electronicsam.com/images/puma/pumaarm.jpg
dimensions are in... inches?
okay, yea, those all look the same on mine as well, and I've got the pneumatic stuff
I don't have one... but it may have had one at some point
there's a small (inch or so) offset between the wrist and elbow... if you know what I mean
Dave911_ is now known as Dave911
is yours made by UNIMATION?
yea, aren't they all?
I thought there was a few companys that made puma arms
hmm, maybe, who knows, it looks just like the pictures from your site
can I use the Stepconf wizard to create non-trivial kins machines?
Like a Delta robot
XYZ cartesian libertys and 3 joints
i intend to create a a configuration with stepconf and change the kins of that in hal file
i have the .ko file with my new kins, and i know how to change
the problem is that when im creating the machine in step conf
i need to put in axis configuration the Leadscrew pitch rev/mm
and this dont work in my kins
rev/mm is not a linear result
for the axis
aha, is cos(theta) = -cos(theta-180degrees) ?
of course it is
except for maybe zeroes or something
still puzzling over value and dir in andy's comp
it knows the current motor angle and uses 'dir' to make the winding current point either +90 or -90 degrees from the current, then multiplies by 'value'
I was thinking that in normal use you'd have to separate out the sign of the command from the magnitude to get the right phase shift
but as long as the difference is 90 then the sign of value is enough
unfortunately, you can choose a different value than 90 degrees for the phase difference and I think it's wrong for other values
since you'd get e.g., +60 and -120
for consideration: http://www.panix.com/~dgarrett/stuff/0001-emcrsh-getopt_long-fix-longopts-termination.patch
dawned on me why ladder doesn't automatically load in the demo-sim-hal... ( you can load it from the axis menu )
yeah it loads and runs automatically, and you can start the gui from the menu
EMC: 03jepler 07v2.4_branch * rc341121cd440 10/src/emc/usr_intf/emcrsh.cc: emcrsh: getopt_long() fix longopts termination
cradek: I was used to the older sim_cl that automatically started the CL gui
we didn't fix http://www.linuxcnc.org/compile_farm/
wonder if anyone still uses it
but it's probably dead since buildbot
alex_joni: yes I'm pretty sure the compile farm is retired now