Do kinematics modules only get called when an Axis is moving? I am not seeing quite what I would expect to see
I have simplified, and the plot thickens....
[00:34:52] <andypugh> http://www.pastebin.ca/1887429
I just got "NaN" as dy in the halmeter.
- and + are overloaded in posemath, but I haven't referenced posemath
this is C, there's no such thing
As the only operator being used to calculate dy is a -, I am puzzled to see how I can have a NaN
Of course, if tran.y is a NaN, then I guess so will be dy....
but you're not (theoretically) using negative numbers in the sqrt call
No, and even if I did, hyp might be NaN, but not dy
I guess it is a chain of nonsense. hyp = 0, costan = NaN, joints = NaN, tran.y = NaN, dy = NaN
A NaN contagion
so you think hyp=0 causes it all?
they do spread fast
I think there is a fair chance of that
The only way to get NaN is 0/0 I believe, anything else /0 is +-Inf?
no, there are a bunch of rules on how to get a nan
not least of which is that anything (almost?) combined with a NaN yields a NaN
incidentally, I think the math is wrong
Yeah, I am pretty sure the maths is wrong.
isn't the intent that you will have a kerf angle adjustment, which will be combined with any programmed A angle?
and other stuff
No, the A angle is the kerf adjustment
It's not my maths. Well, it is partly my maths,but I think I will be tearing it up and starting again.
One sign that the maths is wrong, I think, is that when I home Z it goes to 250 (the home position) then slowly goes back to zero... (though I am not entirely sure what the normal behaviour is for a joint that is homed without a sequence or a switch)
Time to sleep.
But, current problem is that my forwardkins sets A to zero when the movement stops. Is there any reason that A has to depend on joint positions? Can I just pass it through unchanged via a storage variable inside the kins?
I have private mail from cmorley that he's tested the modbus patches and they work for him. Also mail from dave that he's been working on a waterjet conversion (using his version of the modbus stuff) on 10.04 using mozmck's kernel debs and will post pictures soon
I'm sure that unpluggging and plugging ethernet cable hangs up realtime on mozmck 10.04 rt kernel
I't 100% repeatable
do you have to have emc running when you unplug the cable?
I just unplugged and plugged the ethernet cable on mine with the latency test running with no ill effects
Just this once .. here's the log: http://www.linuxcnc.org/irc/irc.freenode.net:6667/emcdevel/2010-06-21.txt
jthornton: when I unplug when emc is running, realtime don't want to unload when closing Axis
I started axis then unplugged ethernet then shut down axis then plugged the ethernet back in and started axis again but didn't see any problem. Do I need to check something else?
jthornton: no that's it
maybe it's some eth driver problem
ok, I'm not sure how to tell what driver I'm using
connection information at the top shows Driver: forcedeth
gotta run now
we're in ann arbor and all's well
cradek: you and few others arrived earler right?
cradek: wanna go to that Ethiopian place tonight?
we just got here...
I'm leaving in the next 15 minutes or so, so I should be there between 5 and 6
have you determined that it is open?
yes, they serve dinner every night (from what I could see), it's only lunch that they skip on Mondays
that page said "now open for lunch", but there's a dinner meny
it probably wouldn't hurt to call
right, let us know
I'll contact you when I arrive as well
EMC: 03cradek 07separate-g92 * r476a688cef77 10/ (2 files in 2 dirs): fix AXIS preview
EMC: 03cradek 07separate-g92 * r2c6f4fd8679f 10/src/emc/rs274ngc/interp_internal.hh: comment fix
cradek: what is purpose of separate-g92? separate origin offset logic from g92 offset logic?
yes g5x and g92 are separated for several reasons: g92 works in rotated g5x coordinate systems, and guis can show the offsets separately if they choose to
I see, cool
[19:38:59] <cradek> http://timeguy.com/cradek-files/emc/run-with-different-g92-offset.png
I ran the program with X=2 G92 offset (causing red backplot) then cleared it with G92.1 and reloaded the program (white)
the g5x systems have various offsets and rotations so you can see how they interact
EMC: 03cradek 07separate-g92 * r8e979df8fc0b 10/lib/python/rs274/glcanon.py: fix dro
EMC: 03cradek 07separate-g92 * r66cfbd8c7df1 10/src/emc/usr_intf/Submakefile: emcrsh doesn't build yet...
EMC: 03cradek 07separate-g92 * racec1e5bbf9e 10/lib/python/rs274/glcanon.py: pretty up the bigdro a bit
EMC: 03cradek 07separate-g92 * rd06511a8101d 10/src/emc/rs274ngc/interp_find.cc: fix changing systems and g10 l20
SWPLinux_ is now known as SWPLinux
wth, glRotatef takes degrees
ust like G-code, luckity
I new that already, but what a surprise
[21:03:30] <cradek> http://timeguy.com/cradek-files/emc/show-offsets.png
jepler: the hershey module doesn't know how to draw "G" :-/
cradek: whoever wrote it shouldn't have cut so many corners
I wonder if whoever wrote it recalls how those numbers were generated
jepler: in addition to the click-select not working, I think I'm not getting line stipple in master - they just look solid.
EMC: 03cradek 07separate-g92 * r1afa8b46314a 10/lib/python/rs274/glcanon.py: show the offsets in the preview
EMC: 03cradek 07separate-g92 * re5ae4f70c426 10/nc_files/systems.ngc: this should show g5x and g92 both
This is odd.
I have a stepgen where the position-fb constantly counts up, despite the fact that the position-cmd is zero
are you in position control mode or velocity control mode?
Just powered up, in joint mode
i meant the stepgen itself, not the motion controller
I am meddling with kinematics, but my understanding is that kins is not even called in join mode?
Good point, not my ini file.
loadrt stepgen step_type=0,0,0,0,0,0
So, position then?
It does seem spooky, doesn't it?
call the exorcist!
is stepgen.X.counts counting up along with .position-fb?
is .enable true?
All sliders to zero has no effect.
is there a .velocity-cmd pin? what's its value?
I am going to swap the hal to trivkins to see if that makes any difference (but the manual says that kins is not used in joint mode)
and you said .position-cmd is 0 and not changing.. strange
Well, every time it f-errors (at 100mm, quite wide limits as the moment) pos-command takes on the current value
So it is increasing while we speak in steps of 100mm
But only when it f-errors out.
The even stranger thing is, this is a gantry config and joint is explicitly set to the same value as joint, but only joint is wandring.
It _isn't_ a problem with trivkins. It seems the manual isn't quite correct about whether kinematics is used in free/joint mode...
But hang on, this is the output of a stepgen, it still ought to follw the position-cmd, even if that position-cmd is gibberish from a kinematics module?
OK got around to testing a 5I23 with a bad bit file (I hacked my loader so it didn't bit reverse when it should have) and didn't see any problem
the expected thing happens, no CRC error because no valid sync so bitfile load is just ignored and subsequent correct loads work fine
Any ideas? http://imagebin.ca/view/yTBJvH9.html