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[02:44:34] <seb_kuzminsky> ho boy, i just hit Send...
[02:44:52] <cradek> uh-oh
[02:47:37] * seb_kuzminsky feels like this right now: http://i2.kym-cdn.com/photos/images/original/000/440/144/3f0.jpg
[02:48:10] <cradek> oh that poor critter
[02:48:22] <cradek> you'll do fine :-)
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[13:57:57] <cradek> argh what is this place where I'm spending weekdays again
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[14:08:01] <skunkworks> heh
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[14:09:25] <skunkworks> I took today off. (stella needs a shot... :( )
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[16:09:36] <KGB-linuxcnc> 03dgarrett 05master 7a59b10 06linuxcnc 10(31 files in 8 dirs) * pyngcgui,gremlin_view apps and gladevcp widgets
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[17:22:34] <KGB-linuxcnc> 03chris 05master 66f7b5d 06linuxcnc 10src/emc/ 10motion/control.c 10motion/mot_priv.h 10motion/motion.c * Make home-state a pin, to enable homing trickery
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[17:42:53] <andypugh> Ah, yes, I was just re-reading the thread where I suggested doing that. Then apparently forgot.
[17:44:23] <skunkworks> andypugh: I talked to peter and he thinks that we don't need to send the accupins quaduature.
[17:44:33] <skunkworks> andypugh: glad you made it home safe
[17:44:59] <andypugh> Yes, I saw the discussion.
[17:45:23] <andypugh> It may not do any harm, though.
[17:45:40] <andypugh> (it keeps the two return signals isolated in time, I suspect.
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[17:46:28] <pcw_home> Quadrature makes the timing of the A-D samples more critical so probably not the best for the Arduino
[17:47:35] <pcw_home> without quadrature it works just like a normal resolver
[17:48:09] <pcw_home> +- some possible linearity issues
[17:57:02] <pcw_home> so fairly stiff push pull coil drive for both coils (paralleled ACT buffers maybe)
[17:57:03] <pcw_home> and sense the coil outputs at center tap (sine and cosine magnitude AC outputs)
[17:58:12] <pcw_home> probably need to select a good frequency (250 Hz is probably too low for decent update rate)
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[18:02:38] <skunkworks> right - and it depends on what will actually go through the head/pins
[18:03:49] <skunkworks> 10khz looked too high
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[18:03:54] <skunkworks> maybe 1khz..
[18:04:17] <skunkworks> and if the update rate just isn't high enough - it could always be used for mapping...
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[18:05:22] <skunkworks> that could be why the amplitude seemed to change a little bit (sending quad)
[18:07:22] <pcw_home> Yeah theres probably some optimum frequency for the best compromise between update rate and linearity
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[18:31:03] <cradek> seb_kuzminsky: how do you feel about also merging ja3 for 2.6?
[18:31:35] <cradek> seb_kuzminsky: I ask because I wonder where to base my synchronized-homing work, which I'd like to get into 2.6
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[18:33:46] <Tom_itx> logger[psha]_
[18:34:54] <seb_kuzminsky> cradek: i'll have to look at ja3 more closely
[18:35:21] <seb_kuzminsky> so let me get back to you on that
[18:35:55] <cradek> no hurry. I'm going to base it on master for now. I don't think rebase would be hard either way.
[18:36:35] <seb_kuzminsky> cool
[18:37:11] <cradek> this is a clever hack that would be a decent kins test platform:
http://pumpingstationone.org/2013/06/cnc-gonzo-build-2-recap/
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[18:38:11] <cradek> I may have to put one together
[18:38:44] <cradek> I've also considered stacking two rotaries to make an XY table with no sliding bits (I guess it would be a lot like a scara robot)
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[18:44:26] <seb_kuzminsky> cool!
[18:44:58] <seb_kuzminsky> having some more nontrivkins machines for testing would probably be good for gaining confidence in ja3
[18:45:16] <cradek> yep
[18:45:32] <cradek> maybe I'll have a few mocked up for wichita 2016
[18:45:40] <skunkworks> heh
[18:45:59] <seb_kuzminsky> i've been keeping an eye on the local craigslist for a robot arm, but so far havent seen one
[18:46:25] <cradek> buying one is cheating and also the smart way
[18:48:01] <jepler> there's still probably enough to do that it's not right to call it cheating
[18:48:08] <mozmck1> How much of a robot arm do you want? I have a small one with 6 motors on it.
[18:48:19] <cradek> oooo
[18:48:37] * cradek points at seb_kuzminsky
[18:49:07] <seb_kuzminsky> mozmck1: i dont need much
[18:49:17] <seb_kuzminsky> just something to make me more motivated to play with nontrivkins
[18:49:24] <seb_kuzminsky> got pics?
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[18:50:24] <seb_kuzminsky> something like this would be just fine:
https://www.youtube.com/watch?v=B4Uvlmay02c
[18:52:26] <mozmck1> I can take some pics. The one I have is something like that, but much smaller.
[18:52:53] <seb_kuzminsky> is it running?
[18:54:20] <cradek> I had a little arm a long time ago that had very terrible stepper drivers. the thing was really complex with a dozen cables/pulleys and belts that I think were supposed to make kins unnecessary
[18:55:05] <cradek> it was probably a "pretend we're high tech and teaching programming" school toy
[18:58:07] <mozmck1> This thing may be similar to what you are talking about cradek.
[18:58:38] <seb_kuzminsky> the other alternative might be to build a rostock delta-robot 3d printer
[18:58:38] <mozmck1> it has all the motor at the base and has cables and pulleys.
[18:59:00] <seb_kuzminsky> http://reprap.org/wiki/Rostock
[18:59:39] <jepler> kins on the avr? wow.
[18:59:58] <cradek> or a corexy platform would be fun to mess with
[19:00:30] <mozmck1> I don't know if there is a controller. It has a 34 pin connector on the back and in air inlet. Brand is Microbot Alpha
[19:00:36] <jepler> the homing method is not hard to describe but doesn't really fit with linuxcnc current homing .. maybe it fits with gantry homing though.
http://reprap.org/wiki/Rostock#Firmware
[19:02:57] <cradek> How do you adjust the height of the print surface? can adjust the following line in Configuration.h and then recompile and upload the firmware:
[19:03:18] <cradek> you have to recompile to set a workpiece offset
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[19:05:14] <cradek> it sure is fast
[19:05:57] <seb_kuzminsky> offsets are less important for 3d printers since they're additive on top of a platform in a known g53 location
[19:07:06] <seb_kuzminsky> i think when they print multiple parts at the same time, the parts are all in the same (g53) coordinate system, and the cam layer placed them
[19:07:52] <seb_kuzminsky> and the machine does a z-layer at a time, not a part at a time
[19:12:11] <cradek> you're right - it's not really like cnc machining at all
[19:12:45] <seb_kuzminsky> they share coordinated motion, and... that's probably about it
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[19:32:28] <CaptHindsight> seb_kuzminsky: what type of arm? range of motion and repeatability?
[19:32:49] <seb_kuzminsky> really just need something to exercise kins, not for any practical application
[19:33:34] <CaptHindsight> lost on ebay <1m travel and <5kg load, ~0.02mm accuracy, often for under $1K
[19:34:47] <seb_kuzminsky> i should look there
[19:34:54] <seb_kuzminsky> i was hoping to spend well under $1k
[19:37:46] <CaptHindsight> http://www.ebay.com/itm/New-6-DOF-Manipulator-Robot-Arm-Kits-Aluminum-Rotating-Base-/160998730203?pt=LH_DefaultDomain_0&hash=item257c45a9db
[19:38:01] <CaptHindsight> not sure what they use for encoders
[19:38:22] <jepler> I see they stole soemone else's photos
[19:38:36] <CaptHindsight> $136.00 even less
http://www.ebay.com/itm/New-6-DOF-Manipulator-Aluminum-Robot-Arm-Kits-6pcs-Servo/261208666011?rt=nc&_trksid=p2047675.m1851&_trkparms=aid%3D222002%26algo%3DSIC.FIT%26ao%3D1%26asc%3D16100%26meid%3D8632685321844078387%26pid%3D100005%26prg%3D7683%26rk%3D2%26sd%3D160998730203%26
[19:40:10] <CaptHindsight> http://tinyurl.com/oskx56d Lynxmotion 5 Robotic Arm Kit 5 DOF US $250.00
[19:40:17] <jepler> MG996R is an RC servo
[19:41:48] <CaptHindsight> very often there are old Fanuc, Motoman etc arms for a few hundred $
[19:42:37] <seb_kuzminsky> i worry about shipping costs on "real" robot arms
[19:42:41] <seb_kuzminsky> and garage space...
[19:42:49] <CaptHindsight> the above comments are true for 2.5D printers like repraps
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[19:44:01] <CaptHindsight> the entire Z is printed at the same time, but more advanced 3D printers use 5 axis
[19:45:01] <CaptHindsight> we are building a 5-axis 3D printer now with a laser on another 2-axis
[19:45:19] <seb_kuzminsky> i'm buying mozmck's little robot arm!
[19:48:11] <CaptHindsight> the simple DLP type SLA printers just move the Z-axis, the X and Y are projected by the DLP
[19:48:56] <CaptHindsight> if it's a laser SLA then Z is moved for each layer and 2 galvo mirrors scan the X and Y
[19:50:13] <CaptHindsight> it gets more complicated when you add micronozzles and inkjet heads into the printer to deposit photopolymers or heat cured fluids
[19:51:47] <CaptHindsight> or printheads and extruders together and have a 5-axis stage
[19:53:19] <CaptHindsight> and then add a UV laser to cure what was deposited by an nozzle or inkjet head
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[20:03:16] <cradek> seb_kuzminsky: awesome
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[20:35:24] <jepler> micges: are there real machines running ja3?
[20:36:03] <micges> yes
[20:36:16] <jepler> that is good to hear
[20:37:11] <micges> you didn't run any machine with ja3 on fest?
[20:37:35] <jepler> no, we didn't play with American Robot, it was in a back room somewhere.
[20:37:46] <jepler> so I have no firsthand knowledge of how ja3 is
[20:37:54] <micges> ok
[20:38:48] <micges> ja3 is working very good, on gantry there are some tricks with gui and joint_mode switching
[20:39:27] <micges> I just locked gui that joint mode isn't available thats all
[20:40:52] <micges> 1. it separate joint from axis, 2. teleop with soft limits
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[20:51:58] <CaptHindsight> is anyone other than Lars and memleak working on the RT-PREEMPT pagefault bug?
[20:53:04] <CaptHindsight> Lard mentioned: The big plus with this is we would be able to ship prebuilt .deb packages in standard debian, since they include a preempt-rt kernel now, and also has xenomai packages.
[20:53:23] <jepler> I looked into it a bit. I don't think I know the cause or solution. I made some changes on a branch about it:
http://git.linuxcnc.org/gitweb?p=linuxcnc.git;a=shortlog;h=refs/heads/jepler/rtos-master-v0-linux_rt
[20:53:42] <jepler> this branch is not suitable for inclusion because it breaks latency-test on all systems besides RT-PREEMPT
[20:54:16] <jepler> but the patch 'rtapi_app: make dlopen do all work up front' seems to me to be important
[20:54:21] <jepler> anyway, I am not doing any further work at the moment
[20:54:58] <jepler> as far as I know memleak tried my changes and it didn't fix his system
[20:55:33] <andypugh> I think Visteurs has a number of machines running JA3. I think he has even _sold_ machines running JA3.
[20:55:38] <jepler> my own test system is not good for RT (laptop) so I can't make any claims about how well the branch is working .. but for me the cyclictest and latency-test results are about the same
[20:56:30] <CaptHindsight> jepler: memleak hasn't tried your changes in your ^^ branch yet
[20:56:54] <CaptHindsight> he's going to try them now
[20:57:02] <jepler> I thought he at least had tried the dlopen change .. if not I hope he will
[20:57:12] <jepler> bbl
[20:58:07] <CaptHindsight> thanks
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[21:22:31] <cradek> CaptHindsight: you were at the gathering, right? which person were you?
[21:25:47] <CaptHindsight> I was only there Thursday - Sat noon
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[21:26:31] <cradek> did I meet you? what's your name?
[21:27:10] <CaptHindsight> I spent half the time talking to Tom about adventures in Asia
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[21:56:12] <alex_joni> hmm.. on the note of bots.. they published a video of one of the systems I worked on
https://www.youtube.com/watch?v=AXxn7vJSJVg
[21:58:22] <skunkworks> alex_joni: was that the place you showed pictures of with the rails the robots mounted on?
[21:59:05] <seb_kuzminsky> alex_joni: that's very cool
[21:59:16] <alex_joni> skunkworks: probably :)
[21:59:33] <alex_joni> I spent about 4 weeks there, iirc
[21:59:39] <alex_joni> working on one program :D
[21:59:39] <skunkworks> neat!
[22:00:19] <alex_joni> seb_kuzminsky: it's pretty wild
[22:00:46] <alex_joni> sometimes I used a basket to go up about 5-10m to the part
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[22:02:54] <alex_joni> seb_kuzminsky: too bad for shipping costs.. I have some older arms around which I could spare
[22:03:24] <alex_joni> pretty easy to retrofit (DC motors + encoders)
[22:03:39] <alex_joni> homing cam on half the travel
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[22:06:38] <skunkworks> pcw_home: that is pretty cool...
http://pastebin.com/Rc1bdHmx
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[22:07:43] <skunkworks> doesn't work on a non linuxcnc install of 12.04.. but it worked in a 10.04 install of linuxcnc in virtualbox
[22:08:35] <micges> skunkworks: what error do you have on 12.04?
[22:09:14] <skunkworks> micges: skunkworks@skunkworks-Studio-XPS-1645:~/7i80/utils/linux$ sudo ./mesaflash --device 7i80 --verbose
[22:09:16] <skunkworks> [sudo] password for skunkworks:
[22:09:18] <skunkworks> ./mesaflash: error while loading shared libraries: libpci.so.3: cannot open shared object file: No such file or directory
[22:09:28] <skunkworks> I assume .3 isn't what is on 12.04?
[22:09:43] <micges> no idea
[22:09:46] <skunkworks> HEH
[22:09:51] <skunkworks> oops heh
[22:09:59] <micges> did you tried to install libpci ?
[22:11:36] <skunkworks> it says it is already installed
[22:12:15] <alex_joni> dpkg -l | grep libpci
[22:12:17] <skunkworks> I did install the libpci dev stuff just to be sure. No help
[22:12:39] <alex_joni> huh
http://www.youtube.com/watch?v=n6DdWQ25Ur8
[22:12:40] <skunkworks> ii libpci-dev 1:3.1.8-2ubuntu5 Linux PCI Utilities (development files)
[22:12:41] <micges> so it needs to be recompiled in 12.04
[22:12:42] <skunkworks> ii libpci3 1:3.1.8-2ubuntu5 Linux PCI Utilities (shared library)
[22:12:44] <skunkworks> ii libpciaccess0 0.12.902-1ubuntu0.2 Generic PCI access library for X
[22:12:45] <skunkworks> ii libpciaccess0:i386 0.12.902-1ubuntu0.2 Generic PCI access library for X
[22:12:47] <skunkworks> skunkworks@skunkworks-Studio-XPS-1645:~/7i80/utils/linux$
[22:13:11] <micges> just unpack source and make
[22:13:12] <alex_joni> you can check with dpkg -L libpci3 what files are included iirc
[22:13:18] <skunkworks> alex_joni: yep - I think that is micges
[22:13:18] <alex_joni> or what micges said ;)
[22:14:57] <micges> yes its me :)
[22:15:13] <alex_joni> so what's the driver status?
[22:16:02] <micges> waiting for some official lcnc with xeno
[22:16:09] <skunkworks> micges: skunkworks@skunkworks-Studio-XPS-1645:~/mesaflash2$ make
[22:16:11] <skunkworks> gcc -I/usr/include -O0 -g -Wall -Wextra -lm -c hostmot2.c
[22:16:13] <skunkworks> gcc -o mesaflash main.o eeprom.o flash_spi.o device_eth.o lbp16.o device_pci.o hostmot2.o -lm /usr/lib/libpci.so
[22:16:14] <skunkworks> gcc: error: /usr/lib/libpci.so: No such file or directory
[22:16:16] <skunkworks> make: *** [all] Error 1
[22:16:41] <micges> skunkworks: open makefile
[22:17:12] <skunkworks> ok
[22:17:26] <micges> moment
[22:18:29] <alex_joni> skunkworks: check /usr/lib for libpci*
[22:19:04] <micges> skunkworks: find this line: LIBS = /usr/lib/libpci.so
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[22:19:47] <skunkworks> yes
[22:20:20] <alex_joni> and replace it with the file you found in /usr/lib
[22:20:44] <micges> yep
[22:22:25] <skunkworks> there doesn't seem to be a libpci
[22:22:40] <alex_joni> then do the dpkg -L libpci3
[22:22:45] <alex_joni> and see where it put the files
[22:23:09] <skunkworks> ah
[22:23:58] <skunkworks> /lib/x86_64-linux-gnu/libpci.so.3
[22:24:05] <skunkworks> do I put the .3 at the end?
[22:24:27] <micges> no
[22:24:41] <alex_joni> you could make a symlink from /usr/lib/libpci.so.3 to the x86_64, but I have no idea if that's a big no-no or not
[22:25:43] <skunkworks> gcc -o mesaflash main.o eeprom.o flash_spi.o device_eth.o lbp16.o device_pci.o hostmot2.o -lm /lib/x86_64-linux-gnu/libpci.so
[22:25:45] <skunkworks> gcc: error: /lib/x86_64-linux-gnu/libpci.so: No such file or directory
[22:25:46] <skunkworks> make: *** [all] Error 1
[22:25:48] <skunkworks> skunkworks@skunkworks-Studio-XPS-1645:~/mesaflash2$
[22:25:55] <micges> alex_joni: makefile will be patched to use universal linking symbols, searching it now
[22:26:05] <micges> skunkworks: try with .3
[22:26:07] <micges> :)
[22:27:00] <skunkworks> heh
[22:27:34] <skunkworks> micges:
http://pastebin.com/585SBy12
[22:27:44] <skunkworks> yecky
[22:28:21] <alex_joni> skunkworks: can you pastebin the Makefile?
[22:28:31] <alex_joni> it sounds like it's hardcoded for i386
[22:28:40] <micges> yes it is
[22:31:17] <micges> alex_joni:
http://pastebin.com/PMpK3AiG
[22:31:22] <skunkworks> micges:
http://pastebin.com/PqFn6n2t
[22:34:59] <micges> skunkworks: change that line to: LIBS = -lpci
[22:35:02] <skunkworks> it runs quite nicely on a .7a 5v cell phone wall wart
[22:35:08] <alex_joni> skunkworks: YTBaMjnj
[22:35:20] <alex_joni> http://pastebin.com/YTBaMjnj
[22:35:32] <alex_joni> or try what micges suggested first :)
[22:36:08] <skunkworks> pretty much the same error
[22:36:10] <skunkworks> s
[22:36:34] <alex_joni> then try my hack :)
[22:38:16] <skunkworks> alex_joni: just make: *** No rule to make target `libanyio/hostmot2.h', needed by `eeprom.o'. Stop.
[22:38:58] <skunkworks> so I need the mesa firmware stuff?
[22:39:05] <alex_joni> no
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[22:40:27] <alex_joni> skunkworks: you sure you edited the right Makefile, in the right dir, etc?
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[22:41:46] <skunkworks> yes - because the output has been changing each time I make
[22:42:00] <skunkworks> your changes only had one error
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[22:42:26] <alex_joni> well, it aborts the make
[22:42:59] <alex_joni> try replacing this line:
[22:43:01] <alex_joni> CFLAGS = $(INCLUDE) $(OPT) $(DEBUG) $(MATHLIB) $(CPP_FLAGS)
[22:43:03] <alex_joni> with:
[22:43:13] <alex_joni> CFLAGS = $(INCLUDE) $(OPT) $(DEBUG) $(MATHLIB) -D64_BIT
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[22:43:37] <skunkworks> your changes?
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[22:44:33] <alex_joni> yeah
[22:44:48] <skunkworks> same
[22:44:50] <skunkworks> skunkworks@skunkworks-Studio-XPS-1645:~/mesaflash2$ make
[22:44:52] <skunkworks> make: *** No rule to make target `libanyio/hostmot2.h', needed by `eeprom.o'. Stop.
[22:44:53] <skunkworks> skunkworks@skunkworks-Studio-XPS-1645:~/mesaflash2$
[22:45:01] <alex_joni> or you can try changing 'CC = gcc' to 'CC = gcc -m64'
[22:45:07] <alex_joni> (line 5)
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[22:45:26] <alex_joni> can you tell me where I can get mesaflash2 ?
[22:46:16] <micges> http://mesanet.com/software/parallel/7i80.zip
[22:46:35] <skunkworks> oh - not fast enough
[22:46:37] <skunkworks> :)
[22:46:43] <skunkworks> alex_joni: same error as above
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[22:47:55] <alex_joni> but remove the -D64_BIT from CFLAGS please
[22:48:13] <alex_joni> skunkworks: ^
[22:49:27] <skunkworks> alex_joni: same error
[22:49:43] <alex_joni> jas
[22:50:59] <alex_joni> hmm.. the Makefile from micges's location says something else
[22:51:09] <alex_joni> eeprom.o : eeprom.c devices.h eeprom.h device_eth.h device_pci.h hostmot2.h lbp16.h
[22:51:18] <alex_joni> there's no libanyio/ in there
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[22:52:37] <alex_joni> skunkworks: do you have a mesaflash2/libanyio folder?
[22:52:58] <alex_joni> skunkworks: with hostmot2.h in it?
[22:53:03] <skunkworks> no
[22:53:29] <alex_joni> then you have the wrong Makefile
[22:53:34] <alex_joni> let me paste a new one
[22:53:44] <skunkworks> I have libpci and winio
[22:54:07] <skunkworks> I thought I pulled it from the zip file
[22:54:10] <alex_joni> http://pastebin.com/fBUhgeXU
[22:54:34] <alex_joni> that pastebin is from the zip file.. no mention of libanyio in there
[22:55:37] <micges> seems that I pasted wron version of makefile, sorry
[22:55:43] <skunkworks> oh
[22:55:50] <skunkworks> heh - I never have issues like that
[22:56:20] <alex_joni> skunkworks: so.. works?
[22:57:20] <alex_joni> gotta run.. 2am coming up, and I'm on the road tomorrow
[22:58:49] <skunkworks> skunkworks@skunkworks-Studio-XPS-1645:~/mesaflash2$ make
[22:58:51] <skunkworks> gcc -m64 -o mesaflash main.o eeprom.o flash_spi.o device_eth.o lbp16.o device_pci.o hostmot2.o -lm /usr/lib/libpci.so
[22:58:52] <skunkworks> gcc: error: /usr/lib/libpci.so: No such file or directory
[22:58:54] <skunkworks> make: *** [all] Error 1
[22:58:55] <skunkworks> skunkworks@skunkworks-Studio-XPS-1645:~/mesaflash2$
[22:59:00] <alex_joni> yeah, gotta fix that link :)
[22:59:02] <skunkworks> back to that. Now make changes from above?
[22:59:11] <alex_joni> just the /lib/x86_64...
[23:00:49] <alex_joni> like this:
http://pastebin.com/FSVMicLc
[23:02:43] <skunkworks> get the incompatable
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[23:03:13] <micges> so try my change: -lpci
[23:03:15] <micges> or -lpci3
[23:07:25] <alex_joni> night all
[23:07:29] <micges> night
[23:07:31] <skunkworks> night alex - thanks
[23:07:48] <skunkworks> didn't help - lpci or -lpci3
[23:08:19] <micges> seems to be tied to 32 bits
[23:08:36] <micges> I don't have machine to check this
[23:08:57] <skunkworks> heh
[23:09:16] <skunkworks> well - I do have a work around for now. (running on a linuxcnc livecd install)
[23:09:21] <micges> use 32 bit system, tomorrow I'll test it on 64 bit system
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