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[00:04:26] <jmkasunich> argh
[00:04:48] <jmkasunich> some folks can't troubleshoot their way out of a paper bag
[00:05:12] <jmkasunich> is the idea of following a signal from its source to see where it goes wrong really that tough to comprehend?
[00:05:35] <jmkasunich> * jmkasunich goes away (dinner with friends)
[00:33:28] <cradek> jmkasunich: next he will ask about his following errors
[00:33:35] <cradek> that's where we started around 2pm
[00:49:29] <skunkworks> that was an odd ini file
[00:50:43] <cradek> did he ever paste the actual ini file?
[00:54:44] <skunkworks> I thought it was this
http://www.pastebin.ca/327187
[00:55:26] <cradek> oh right, I remember the scales now
[00:55:49] <cradek> 20, 40, 9.657170449, and 200
[00:56:46] <skunkworks> little odd
[00:56:57] <cradek> I think he changed pretty much all the numbers
[00:57:15] <cradek> the rotary maxvel is 2.5 (degrees) per second
[00:57:35] <cradek> with limits of -2 and +2 degrees
[00:58:33] <skunkworks> I think we should ask for a picture of this machine :)
[00:59:21] <cradek> I guess we don't have a 4 axis mm config
[01:00:06] <cradek> hmm where but the internet would I find a motorcyclist doing wheelies at 200kph
[01:01:08] <cradek> ... in traffic
[01:01:48] <skunkworks> youtube
[01:01:57] <skunkworks> seriously?
[01:02:08] <cradek> hmm he hits 300 sometimes
[01:02:19] <cradek> while going between two lanes off opposing traffic
[01:03:12] <cradek> natural selection!
[01:03:31] <skunkworks> darwin award winner at some point
[01:03:46] <cradek> yeah
[01:04:02] <cradek> unfortunately he'll probably take out someone else too
[01:04:41] <skunkworks> an inocent dar-standard..
[01:04:43] <skunkworks> innocent
[01:05:11] <skunkworks> maybe darwstandar
[01:05:31] <skunkworks> again - sorry about the spelling
[01:05:47] <cradek> bystander?
[01:06:01] <skunkworks> :)
[01:06:06] <cradek> usually I can guess what word you mean :-)
[01:06:27] <skunkworks> trying to somehow relate it to darwin - sad
[01:06:33] <cradek> ah
[01:06:41] <cradek> wonder why I got that video searching for "5 axis"
[01:07:30] <skunkworks> did you see the 5 axis machine that was making a compressor wheel for a tubo?
[01:07:39] <cradek> yes
[01:08:07] <skunkworks> turbo
[01:08:14] <cradek> pretty darn cool
[01:08:14] <skunkworks> thought that looked odd
[01:08:17] <skunkworks> yes
[01:08:18] <skunkworks> very cool.
[01:09:14] <skunkworks> I can't wrap my head around setting something up like that (4 or more continuous axises)
[01:09:50] <cradek> I can understand controlling it, but probably not programming gcode for it...
[01:10:02] <cradek> not by hand anyway
[01:10:06] <skunkworks> right
[01:11:00] <skunkworks> all short line segments anyways. I think
[01:13:42] <skunkworks> I really need to get into 3d modeling. I had downloaded a free one that anonimasu had recomended but have not had tome to play with it. (I really should get back to trim ;))
[01:15:06] <cradek> what package is that?
[01:17:13] <skunkworks> alibea design.. I don't know if it is linux also.
[01:18:30] <cradek> ah I remember him talking about that
[01:18:44] <skunkworks> http://www.alibre.com/xpress/software/alibre-design-xpress.asp
[01:19:44] <skunkworks> looks pretty cool - again I am an 2d autocad person. ran a laser for a few years.
[02:41:16] <rayh> Someone earlier talked about highlighting a HAL file? I've got a really crude one running here now.
[02:44:29] <SWPadnos> it seems that either bash or ini hilighting work somewhat
[02:45:43] <rayh> The highlight files are located in /usr/share/gtksorceview-1.0/language-spec
[02:46:28] <SWPadnos> ah. have you modified one, or found one that almost works?
[02:47:31] <rayh> I copied ini.lang to hal.lang.
[02:47:45] <SWPadnos> cool
[02:47:47] <rayh> Then modified the first couple of lines by replacing ini with hal.
[02:48:13] <rayh> That succeeds in adding the hal highlight to the gedit menu system.
[02:48:43] <SWPadnos> great. the next thing is probably to add the keywords and special symbols like <= and =>
[02:49:15] <rayh> It looks to me like the language.dtd
[02:49:29] <SWPadnos> lemme check on that machine
[02:50:09] <rayh> is the key to the name of the element that starts a specific highlight.
[02:51:21] <rayh> The hal.lang header lines even allow you to select which type of highlight group it will be placed in.
[02:52:21] <rayh> In the menu system of gedit.
[02:52:42] <SWPLinux> right - numbers, keywords ...
[02:53:19] <rayh> There is the whole regex thing available.
[02:54:03] <rayh> I highlighted loadrt and addf in red. Left most of the other commands green.
[02:54:18] <rayh> and gray/blued out the comment lines.
[02:54:47] <SWPLinux> yep. I see that it assigns everything at the start of a line as a "variable" (in the ini version)
[02:55:00] <rayh> Right.
[02:55:23] <rayh> The other .lang files look like they can be instructive.
[02:55:28] <rayh> as examples.
[02:55:28] <SWPLinux> so the comment char needs to be changed to # from ;
[02:55:32] <SWPLinux> yep
[02:55:45] <SWPLinux> C or tcl would be good, since there are language elements that go on the same line
[02:56:19] <SWPLinux> HAL should have the keywords (at the start of a line, possibly with some whitespace)
[02:56:34] <SWPLinux> they should be explicitly listed, because "frodo" as a command will generate an error
[02:56:41] <SWPLinux> (at least for now ;) )
[02:57:18] <rayh> It doesn't look like it would be all that difficult to use. Even for g-code stuff.
[02:57:32] <SWPLinux> G-code has some problems that are a little harder to deal with
[02:57:39] <SWPLinux> spaces getting removed is one of them ...
[02:57:45] <rayh> I remember that from the kedit days.
[02:58:09] <SWPLinux> yeah. Paul had soemthing that almost worked at Fest a couple of years ago (which I think you had worked on as well or something)
[02:58:56] <rayh> It looks like you can use as many keyword-lists as you like and just name them different.
[02:59:03] <SWPLinux> yep
[02:59:18] <rayh> Right I believe it became a part of the BDI about 40 or so.
[02:59:27] <SWPLinux> so the commands and types can be colored differently
[02:59:44] <SWPLinux> yeah - I saw it at the last NIST fest (and my first :) )
[02:59:54] <rayh> so newsig could be one, linkps linksp another
[03:00:09] <SWPLinux> well, I'd make all commands the same color
[03:00:17] <rayh> Oh. We had just finished it a few days before that meeting.
[03:00:21] <SWPLinux> data types another color
[03:00:36] <SWPLinux> directions another
[03:01:17] <rayh> Gotta figure out how to get to an ini reference and make them unique.
[03:01:23] <SWPLinux> oh, and categories something else (thread, sig, param ...)
[03:03:03] <SWPLinux> hmmm. I think the kate "settings" type is a little closer - it recognizes # as comments
[03:03:15] <rayh> So you would make setp different colored from other commands.
[03:03:36] <SWPLinux> no - setp, sets, show, newsig ... all the same color
[03:04:03] <SWPLinux> but a show command has several parts: show <category> <searchspec>
[03:04:16] <SWPLinux> those 3 things should probably be 3 colors
[03:04:30] <rayh> show??
[03:04:59] <SWPLinux> the more important thing is to show errors: if you have "show" followed by anything other than pin, param, sig, funct, thread, all - then it's an error
[03:05:11] <SWPLinux> halcmd show pin ppmc.0.encoder ...
[03:05:29] <rayh> How often is show used in a .hal file itself?
[03:05:40] <SWPLinux> that was an example
[03:05:45] <SWPLinux> how about newsig ...
[03:05:46] <rayh> Okay.
[03:06:09] <SWPLinux> if that's followed by anything other than a type (HAL_S8, HAL_BIT ...), it's an error
[03:06:26] <SWPLinux> (I may have the order wrong - the name may be next ...)
[03:06:41] <rayh> I guess the separation into a set of specific patterns is the most important.
[03:06:53] <rayh> BTW I liked your review in DM.
[03:07:12] <SWPLinux> the biggest benefit isn't to be able to way "find the green 'setp'", it's "is there anything in bright red? ...
[03:07:15] <SWPLinux> thanks
[03:07:31] <SWPLinux> lagging slightly behind yor offsetting article :)
[03:07:36] <SWPLinux> yor
[03:07:38] <SWPLinux> garrrgh
[03:07:40] <SWPLinux> your
[03:07:58] <rayh> np it's getting late for me also.
[03:08:26] <SWPLinux> it was funny to look at the TOC and say "I know that guy, I know that guy, I know that guy, I am that guy" ... :)
[03:09:03] <rayh> we need a regex that will find .[0-9]. and search for the start and end of the word (whitespace)
[03:09:17] <rayh> Yep.
[03:09:45] <SWPLinux> looking for a number, or for the instance number within a pin/param ...
[03:09:57] <rayh> within a pin/param
[03:10:13] <rayh> only highlight the whole pin param name.
[03:11:06] <SWPLinux> ah, so a regexp that finds any entity that is separated by whitespace and contains at least one of the pattern .[0-9].
[03:12:28] <rayh> Right
[03:13:17] <rayh> in the string element you can supply a "end-at-line-end=TRUE or FALSE"
[03:13:38] <SWPLinux> yep
[03:17:52] <SWPLinux> I don't immediately see how to separate by whitespace, but not include the whitepsace in the found expression
[03:18:46] <SWPLinux> maybe that's the \b I see everywhere
[03:22:05] <rayh> Yea. I suppose some nutcase will come along and edit the background colors and see our whitespace inclusions.
[03:22:12] <SWPLinux> heh
[03:23:43] <rayh> I know I tried it a bit ago.
[03:24:09] <SWPLinux> I'd almost like to hilight the numbers differently so they stand out a bit
[03:24:21] <SWPLinux> like make them bold or something
[03:24:43] <rayh> You are right the tcl.lang is interesting to see and see the effects of on a file.
[03:25:48] <SWPLinux> man - the deafult colors in gedit are very distressing to my eyes
[03:26:06] <SWPLinux> the fuschia and purple thing has got to go
[03:26:56] <rayh> That is one nice thing about the ability to alter them for your system.
[03:27:02] <SWPLinux> heh - yep
[03:27:26] <rayh> But it also means that we can not write "look for the red words."
[03:27:46] <SWPLinux> funny - the kate tcl spec doesn't corretly make "wish" a comment, whereas the gedit one does
[03:27:53] <SWPLinux> err- the exec line that runs wish anyway
[03:28:19] <SWPLinux> true, though those who do lots of customizations like that can probably be led in other ways
[03:28:43] <SWPLinux> "red, or whatever you've changed the 'error' color to"
[03:29:30] <rayh> There you go.
[03:36:34] <rayh> Well that was fun. Thanks for the help, Steven. have a good rest of the evening.
[03:38:26] <jmkasunich> hi guys
[03:39:04] <SWPLinux> Hi jmk
[03:39:24] <rayh> Hi John.
[03:39:46] <jmkasunich> its snowing :-(
[03:41:33] <rayh> lucky guy.
[03:42:03] <SWPLinux> it's just kinda cold here, but we have snow on the ground
[03:42:43] <rayh> couple inches here is all.
[03:42:53] <jmkasunich> we got about 3 today
[03:43:09] <jmkasunich> its falling pretty fast right now tho - the 3" per hour kind
[03:43:19] <SWPLinux> hmmm. lake effect or a real storm?
[03:43:21] <jmkasunich> fluffy stuff, won't amount to much unless it keeps going all night
[03:43:42] <jmkasunich> not blizzardy, mostly falling straight down
[03:43:55] <SWPLinux> ok. so we may not get that in a couple of days :)
[03:44:33] <SWPLinux> I really like the ubuntu weather applet
[03:45:28] <jmkasunich> hmm
[03:45:38] <jmkasunich> I should do more manpages
[03:45:46] <jmkasunich> but I want to about this ---><---- much
[03:45:54] <SWPLinux> heh -even less, I bet
[03:46:01] <cradek> and I should be testing
[03:46:20] <SWPLinux> and I should be adding to the stepper quickstart, and making a servo version
[03:46:21] <jmkasunich> actually its quite satisfying when I finish one
[03:46:31] <SWPLinux> actaully, I should be testing the iris on this lens
[03:48:01] <jmkasunich> * jmkasunich nominates SWPLinux to write the manpage for modmath ;-)
[03:48:18] <SWPLinux> I thought jepler volunteered for that one ;)
[03:48:32] <jmkasunich> yeah
[03:48:45] <jmkasunich> (he's asleep right, we can dump it on him?)
[03:48:52] <SWPLinux> aye
[03:48:57] <SWPLinux> the ayes have it
[03:49:37] <jmkasunich> what really bummed me out was when I realized that although I'm getting close to the end of the components list, the drivers list is untouched
[03:49:53] <jmkasunich> the only drivers with manpages are serport and pluto
[03:50:04] <SWPLinux> hmmm
[03:50:19] <SWPLinux> are they documented reasonably well in the manual(s)?
[03:50:34] <jmkasunich> dunno
[03:50:50] <jmkasunich> I kinda doubt it (some maybe, but some probably not at all)
[03:52:43] <cradek> eek
[03:52:56] <cradek> some combinations of parameters of g76 will cut forever
[03:53:45] <cradek> grrr
[04:14:19] <rayh> SWPLinux: I just put all I know about highlighting in a wiki page.
[04:14:39] <SWPLinux> heh - ok. I'll take a look once I've gotten this danged iris to move
[04:14:56] <rayh> np
[04:15:06] <cradek> noone ever cuts inside threads on a lathe, right?
[04:15:18] <rayh> Sure lots of folk do.
[04:15:19] <SWPLinux> err - well ...
[04:15:35] <cradek> sorry, kidding
[04:15:38] <rayh> just don't try to debur it with emery wrapped around your finger.
[04:15:43] <cradek> eeeee
[04:16:12] <rayh> Yep. After that we called him nine-finger-joe.
[04:16:19] <skunkworks> I take pride in that I have all of my fingers still. (knock on wood)
[04:16:23] <cradek> ouch
[04:16:48] <cradek> hmm, now I have mental pictures I don't want
[04:16:51] <rayh> see you guys.
[04:16:54] <cradek> goodnight
[04:19:35] <skunkworks> cradek: does it miss the stopping point? (g76)
[04:20:05] <cradek> skunkworks: the whole thing is funny with negative numbers, it needs some more thought
[04:20:12] <skunkworks> did a == instead of a <= or something
[04:20:25] <cradek> for some reason that doesn't seem to be happening tonight - I think I'll go to bed
[04:20:35] <skunkworks> :) night
[04:20:42] <cradek> more like the loop adds when it should subtract or something
[04:20:49] <skunkworks> ah
[04:21:05] <cradek> maybe someone will fix it for me before tomorrow
[04:21:17] <jmkasunich> don't hold your breath
[04:21:24] <cradek> yeah I know
[04:21:30] <jmkasunich> I'm too busy not writing man pages
[04:21:34] <cradek> haha
[04:21:45] <cradek> we all have it a little rough don't we
[04:22:38] <jmkasunich> yep
[04:22:43] <cradek> good thing we get paid big
[04:22:49] <cradek> err
[04:22:51] <SWPLinux> what, where?
[04:23:03] <cradek> nah I got confused there for a minute
[04:23:16] <SWPLinux> damn
[04:23:23] <SWPLinux> * SWPLinux goes back to the stupid iris
[04:23:36] <cradek> goodnight guys
[04:23:42] <jmkasunich> SWPLinux: need more voltage on that iris actuator
[04:23:48] <jmkasunich> goodnight chris
[04:23:58] <SWPLinux> night Chris
[04:24:15] <SWPLinux> jmkasunich: I hope not - it opens just fine
[04:24:19] <SWPLinux> if I want it all the way open ...
[04:24:34] <jmkasunich> ah, it has become binary?
[04:24:46] <SWPLinux> yes. no power = off, power = on ;)
[04:25:01] <jmkasunich> you mean open/closed?
[04:25:13] <SWPLinux> yes
[04:25:25] <jmkasunich> do you know what the actuator actually is?
[04:25:53] <SWPLinux> it's a servo of some sort (like in model planes, not a motor)
[04:25:56] <jmkasunich> ie, reversable motor, or solenoid working against spring, or voice coil, or...
[04:26:04] <SWPLinux> no feedback other than the amount of light going through the lens
[04:26:08] <SWPLinux> voice coil
[04:26:34] <SWPLinux> I think - the non-remote models of this lens have a "servo coil" and a "damping coil"
[04:26:57] <SWPLinux> and no specs on how to drive them
[06:42:43] <tfmacz> * tfmacz says hi lawrence
[06:43:50] <LawrenceG> * LawrenceG Hi Ted
[15:02:11] <alex_joni> ARGH
[15:02:13] <alex_joni> XML is evil
[15:02:20] <alex_joni> and the tools that create it even more :(
[15:03:05] <alex_joni> the tool I
[15:03:27] <alex_joni> the tool I'm working with decides to write components semi-random into the xml file.. which makes diff & co useless :(
[15:03:43] <alex_joni> and it reindents the whole file.. which also makes cvs diff useless
[15:12:13] <rayh> I thought that was XML's advantage. Radom (randumb) placement of elements.
[15:12:30] <alex_joni> rayh: try checking for diff's..
[15:12:42] <alex_joni> I added about .5% to a 400k file
[15:13:01] <alex_joni> the diff is the whole fscking file.. I have no way of checking what i actually added
[15:13:29] <rayh> No kidding. I understand that you really need the parser and graphical interface to use it.
[15:13:44] <alex_joni> unfortunately yes
[15:13:54] <alex_joni> there is no way I can do this manually
[15:13:56] <rayh> It really is not intended for things like diff and cvs.
[15:14:08] <rayh> What are you working on?
[15:14:11] <alex_joni> it's supposed to be human readable
[15:14:15] <alex_joni> rayh: ontology
[15:14:35] <rayh> ??
[15:15:06] <alex_joni> rayh: defining languages for AI software
[15:15:16] <rayh> Oh that.
[15:15:38] <alex_joni> http://en.wikipedia.org/wiki/Ontology
[17:53:21] <alex_joni> so.. are we ready for 2.1.0 ?
[18:12:26] <alex_joni> HAL:4: ERROR: module 'puma560kins' not loaded
[18:12:34] <alex_joni> any idea where I should look for more info?
[18:12:55] <SWPadnos> dmesg?
[18:13:03] <alex_joni> nothing relevant there
[18:13:18] <SWPadnos> is this sim or RT?
[18:13:17] <alex_joni> the module shows up under lsmod :(
[18:13:19] <alex_joni> RT
[18:13:22] <SWPadnos> hmm
[18:13:37] <alex_joni> juve@taurus:~/emc2.TRUNK$ lsmod
[18:13:37] <alex_joni> Module Size Used by
[18:13:37] <alex_joni> puma560kins 21380 0
[18:13:52] <SWPadnos> and nothing relevant is shown in the terminal?
[18:13:57] <SWPadnos> (other than the HAL error)
[18:13:57] <alex_joni> no :(
[18:14:03] <SWPadnos> hmmmmmmm
[18:14:25] <alex_joni> emc_debug.txt and emc_print.txt are also of no help
[18:14:43] <alex_joni> the only thing I saw was that I tainted my kernel
[18:14:45] <SWPadnos> yeah - I would have suggested those, but I've never seen useful information in them
[18:15:01] <alex_joni> SWPadnos: dmesg ends up in those
[18:15:32] <SWPadnos> does the pumakins module return anything other than 0 on sucecss?
[18:15:34] <cradek> what's on line 4 of the halfile?
[18:15:43] <alex_joni> loadrt puma560kins
[18:15:51] <SWPadnos> (I'm not sure how load errors are propagated back to halcmd)
[18:15:54] <cradek> does it call hal_ready or whatever the new scheme is?
[18:15:59] <alex_joni> juve@taurus:~/emc2.TRUNK$ bin/halcmd loadrt puma560kins
[18:15:59] <alex_joni> HAL:0: ERROR: module 'puma560kins' not loaded
[18:16:21] <cradek> I suggest looking at the code :-)
[18:17:07] <alex_joni> juve@taurus:~/emc2.TRUNK$ bin/emc_module_helper insert /home/juve/emc2.TRUNK/rtlib/puma560kins.ko
[18:17:12] <alex_joni> that works with no error
[18:17:24] <alex_joni> hmm.. maybe loadrt expects a hal_ready?
[18:17:36] <cradek> 12:15:52 < cradek> does it call hal_ready or whatever the new scheme is?
[18:17:41] <cradek> hmmm
[18:17:57] <SWPadnos> I wonder if it needs to call hal_ready()
[18:18:06] <alex_joni> yeah
[18:18:13] <alex_joni> rtapi_app_main()..
[18:18:16] <alex_joni> and hal ready
[18:18:18] <alex_joni> thanks
[18:18:31] <cradek> check for hal_ready()
[18:18:44] <alex_joni> another 100 point question
[18:18:52] <alex_joni> wtf is KINEMATICS_SERIAL ?
[18:19:21] <cradek> I don't see that in my source tree
[18:19:54] <alex_joni> I never said it's in your source tree :)
[18:20:01] <alex_joni> this is from emc1
[18:20:07] <cradek> ohh
[18:20:25] <cradek> in that case, it's an old thing from emc1
[18:20:31] <alex_joni> although I don't remember ever seeing it before
[18:21:06] <alex_joni> you're somehow particulary usefull today (like a fountain of wisdom)
[18:21:18] <alex_joni> :-P
[18:21:54] <cradek> a fountain of something anyway
[18:22:15] <alex_joni> whoa.. it starts
[18:22:32] <SWPadnos> wasn't that supposed to be a framework/example of kinematics where one joint depends on another, like a robot arm?
[18:22:42] <alex_joni> SWPadnos: right
[18:22:46] <SWPadnos> though there are others like that I guess
[18:22:51] <alex_joni> but I don't see the need for serial
[18:22:56] <alex_joni> even trivkins is serial
[18:23:03] <alex_joni> e.g. not parallel
[18:23:14] <SWPadnos> no - trivkins has orthogonal joints
[18:23:24] <SWPadnos> moving X has no effect on Z
[18:23:33] <alex_joni> LOOOOL
[18:23:41] <alex_joni> joint 3 was "-inf"
[18:23:48] <SWPadnos> oops
[18:23:52] <alex_joni> when I homed it, the display changed to "nan"
[18:23:55] <alex_joni> ROFL
[18:23:57] <SWPadnos> I guess it's got a broken arm ;)
[18:24:14] <SWPadnos> that's the Puma saying "my shoulder hurts"
[18:24:26] <alex_joni> my shoulder is dislocated
[18:24:30] <SWPadnos> heh
[18:24:48] <alex_joni> I think it's a robot-mill combination
[18:24:53] <cradek> haha
[18:24:54] <alex_joni> the shoulder is now a knee :D
[18:26:10] <alex_joni> hmm.. I am getting ferror's when I try to bring the machine out of ESTOP
[18:26:22] <alex_joni> maybe it's going towards -inf too fast?
[18:36:43] <alex_joni> cradek: does selecting a line in emctop work for you?
[18:38:02] <jepler> not for me
[18:38:04] <jepler> I doubt it ever has
[18:38:19] <alex_joni> ok..
[18:38:30] <alex_joni> another question.. jogging speed
[18:38:42] <alex_joni> (let me check something first)
[18:39:01] <alex_joni> ok.. I have 6 joints
[18:39:06] <alex_joni> all with the same settings in the ini
[18:39:31] <alex_joni> jogging however is different (faster for the first 3, slower for the other 3)
[18:39:52] <alex_joni> Issuing EMC_AXIS_JOG -- (+124,+24, +43, +3,0.000100,)
[18:39:52] <alex_joni> Issuing EMC_AXIS_ABORT -- (+120,+16, +44, +3,)
[18:39:52] <alex_joni> Issuing EMC_AXIS_JOG -- (+124,+24, +45, +2,10.000000,)
[18:39:52] <alex_joni> Issuing EMC_AXIS_ABORT -- (+120,+16, +46, +2,)
[18:39:55] <cradek> are your rotary and linear units both 1?
[18:40:05] <alex_joni> inch/degree
[18:40:07] <cradek> err are they the same?
[18:40:13] <alex_joni> but these are joints :)
[18:40:15] <cradek> that's why
[18:40:38] <cradek> you'll have to make them the same, since 012 are assumed linear and 345 are assumed rotary
[18:41:06] <alex_joni> one day this will be fixed :)
[18:41:29] <cradek> "works for me"
[18:44:57] <alex_joni> yay.. found some numbers where I can switch to world :)
[18:45:29] <alex_joni> X(350) Y(70) Z(-400) A(180) B(30.4221) C(0)
[18:46:06] <cradek> when you switch to world, do ABC disappear?
[18:46:11] <alex_joni> no
[18:46:13] <alex_joni> this is world..
[18:46:18] <alex_joni> joint mode is 0,1,2,3,4,5
[18:46:31] <cradek> oh they still mean something in world, right
[18:47:43] <alex_joni> axis shows them as joints though
[18:48:04] <alex_joni> sorry.. found the switch :)
[18:50:06] <alex_joni> jepler: wasn't there a version of AXIS that tilted the cone when A was changed?
[18:50:32] <cradek> yes, but we quickly decided that was no good
[18:50:51] <cradek> actually it rotated around +x
[18:50:54] <alex_joni> right
[18:51:01] <alex_joni> that's the most common :)
[18:51:13] <cradek> cool but assumes a lot about the machine
[18:51:22] <alex_joni> alpha (around X), beta (around Y), gamma (around Z)
[18:51:32] <alex_joni> at least that's how it works for robots
[18:51:40] <cradek> that's actually in the ngc spec
[18:52:07] <cradek> well the direction it faces is in the spec -- it doesn't say anything about where zero is
[18:52:28] <alex_joni> how do you mean zero?
[18:52:39] <alex_joni> on robots it works around the current point
[18:52:40] <SWPadnos> east, north, ...
[18:52:45] <alex_joni> tooltip doesn't move
[18:52:47] <cradek> what is the "radius" when you're at Z0
[18:52:51] <alex_joni> /kickban SWPadnos
[18:52:55] <SWPadnos> :P
[18:53:07] <alex_joni> cradek: radius is always 0
[18:53:28] <SWPadnos> that's rarely true with actual hardware
[18:53:29] <alex_joni> but it's a bit more complicated than that I'm afraid
[18:53:42] <alex_joni> SWPadnos: it is true for a thingie called TCP
[18:53:56] <alex_joni> TCP = tool center point
[18:54:05] <alex_joni> you define that for the control
[18:54:08] <cradek> jepler: did you see the conversation with twingy last night around 11pm? I think he's going to make it build on ubuntu for the next release (maybe today)
[18:54:20] <SWPadnos> sure, but it's translating that to actual joint positions that's the tricky part ;)
[18:55:34] <alex_joni> heh.. jogging joints is nice with robot kins :D
[18:55:43] <alex_joni> too bad the robot isn't displayed :/
[18:56:23] <alex_joni> cradek: do you remember what was changed to tilt the tip?
[18:56:31] <alex_joni> is it something I can easily do?
[18:57:33] <awallin> alex_joni: probably a rotation matrix in opengl just before the cone is displayed?
[18:57:47] <alex_joni> something like that
[18:58:13] <alex_joni> awallin: too bad you're not interested in robot kins :)
[18:58:37] <awallin> alex_joni: you have some nice robot to control?
[18:58:47] <alex_joni> plenty :)
[18:58:54] <alex_joni> but usually I have a control too :D
[19:00:29] <jepler> cradek: no, I didn't see that.
[19:00:51] <alex_joni> http://dsplabs.cs.utt.ro/~juve/dropbox/puma_kins.png
[19:02:58] <jepler> neat
[19:02:59] <awallin> alex_joni: send me one of your robots and I'd be interested in controlling it! I bet it could mill MDF of some other soft tooling board? A 300x1000mm XY and 200mm Z working envelope would be just what I need
[19:03:05] <cradek> alex_joni: those circles are you jogging different joints?
[19:03:15] <alex_joni> yes
[19:03:20] <cradek> neato
[19:03:35] <alex_joni> awallin: the ones I work with are 5000mm diameter
[19:03:49] <awallin> alex_joni: sounds good!
[19:03:56] <alex_joni> 206kg :D
[19:04:05] <alex_joni> 400kg for the control
[19:04:15] <cradek> alex_joni: you could look in axis-historical to find the cone tip code - but it's just a call to glRotatexxx like awallin says
[19:04:25] <cradek> you just have to make the RIGHT rotate call
[19:04:35] <alex_joni> yeah, 3 of those
[19:04:53] <alex_joni> anyways.. I decided doing this blindly is not really possible
[19:05:30] <alex_joni> wonder if I could hook up a puma simulator to AXIS
[19:05:57] <alex_joni> found one in Java I think.. so AXIS could control that through jpype I think :/
[19:06:27] <cradek> seems like you could draw some lines that represent the arm
[19:06:39] <alex_joni> jogging is borken for nontrivkins
[19:06:59] <alex_joni> cradek: but as you said "works for me"
[19:07:00] <cradek> I thought it worked...
[19:07:07] <cradek> broken how
[19:07:12] <alex_joni> it "works" .. but speeds are totally off
[19:07:29] <cradek> off how
[19:07:31] <alex_joni> I was in joint mode, and it was jogging joints 0-2 with the linear speed
[19:07:35] <awallin> do you want to jog joints or axes?
[19:07:44] <cradek> you can jog either
[19:07:46] <alex_joni> awallin: both :)
[19:08:03] <alex_joni> cradek: it's the assumption 012 = linear, 345=angular
[19:10:17] <alex_joni> I noticed another minor thing.. cone sits still.. velocity is !=0 and changes while I zoom in/out using the scroll wheel of the mouse
[19:10:51] <alex_joni> even panning makes it do that :D
[19:12:00] <cradek> that's wild
[19:12:03] <cradek> I don't see it in sim/axis
[19:12:14] <alex_joni> it's probably because of the kins
[19:12:26] <alex_joni> position gets updated from joints with some rounding error
[19:13:28] <jepler> you can try this patch if you like:
http://emergent.unpy.net/files/sandbox/joint-jogging-speed.patch
[19:13:51] <jepler> it is supposed to use "jog speed" for all joints, and the first 3 axes; angular speed for axes 4..6
[19:13:57] <jepler> it's hard for me to test it
[19:14:27] <alex_joni> I think angular speed for all joints is more appropiate
[19:14:30] <alex_joni> in this case
[19:14:35] <alex_joni> joints are rotaries :)
[19:14:59] <jepler> tough noogies
[19:15:06] <alex_joni> noogies?
[19:17:16] <alex_joni> jepler: thanks for the effort.. but I'm gonna stop doing anything more on this...
[19:18:03] <jepler> whatever
[21:03:52] <fjungclaus-away> fjungclaus-away is now known as fjungclaus
[21:04:12] <fjungclaus> Hej!
[21:05:25] <alex_joni> hello
[21:06:35] <fjungclaus> Where did you all get the time from for whole-day communication here :-)
[21:07:09] <cradek> multitasking
[21:07:17] <alex_joni> multiuser
[21:07:33] <SWPadnos> wormholes
[21:08:00] <fjungclaus> Multitasking?? Somebody teached me, only women can do this. So Chris is Christine? :) :)
[21:09:07] <fjungclaus> If I rember my beeing as a student (10 years before) there was some time. But now with job, family/children, house/garden ... there's n none
[21:09:31] <cradek> I now have much more free time than I ever had as a student
[21:13:18] <fjungclaus> Ok, maybe I'm doing something wrong :) But I fear I have too much hobbies (cnc, astronomy/astrophotography + maintainig my own small observatory, auxilliary fire brigade, amateur radio, bicycling ...)
[21:13:52] <fjungclaus> Maybe I should throw off some off them ...
[21:14:13] <alex_joni> hmm.. fireworks would fit nicely in there
[21:14:38] <alex_joni> you can watch them using your observatory, if something goes wrong.. you're on the fire brigade :D
[21:15:50] <fjungclaus> Ok. I'll see if could bring the axis-mdi-history-patch to an end over the next hours ... so I switch over to something like half-away ...
[21:20:30] <fjungclaus> No, firework Is very restricted here by the laws in Germany ... but we have an international approved fireworker here in our small village :-)) Sometimes he has a special permit to test some new rockets and the local fire brigade is doing the fire-watch then ...
[21:21:48] <fjungclaus> CU L8ter
[21:23:27] <alex_joni> bis dann
[23:13:35] <Guest469> Guest469 is now known as skunkworks
