Branch: refs/heads/master
Home: https://github.com/LinuxCNC/linuxcnc
Commit: f5311b8b070c9d58b46e9e0562126a86abce868c
https://github.com/LinuxCNC/linuxcnc/commit/f5311b8b070c9d58b46e9e0562126a86abce868c
Author: Luca Toniolo <107...@us...>
Date: 2026-09-30 (Wed, 30 Sep 2026)
Changed paths:
M src/emc/kinematics/pumakins.c
A tests/pumakins-unwrap/checkresult
A tests/pumakins-unwrap/skip
A tests/pumakins-unwrap/test.sh
A tests/pumakins-unwrap/unwrapcheck.c
A tests/pumakins-unwrap/unwrapcheck.hal
Log Message:
-----------
pumakins: keep joints 4 and 6 within a half turn of the previous value
pumakinsInverse() took th4 and th6 straight from atan2(), which always
lands in (-180, 180]. When the wrist crossed a half turn the returned
joint jumped a full turn in one call, and every trajectory planner takes
that jump at face value.
Bring both joints back within a half turn of the joints passed in, using
the angleDiff() helper the flag detection already uses. The test loads a
checker after pumakins, like tests/kins-jacobian, that walks joints 4 and
6 across the +-180 boundary in both directions, hands each inverse the
joints of the step before as motion does, and checks it returns the
joints that made the pose.
Fixes #4585.
Commit: e93dfa5133987db220b066802e251dd5fb903486
https://github.com/LinuxCNC/linuxcnc/commit/e93dfa5133987db220b066802e251dd5fb903486
Author: Luca Toniolo <107...@us...>
Date: 2026-09-30 (Wed, 30 Sep 2026)
Changed paths:
M tests/kins-frames/framecheck.c
M tests/kins-frames/test.sh
M tests/kins-jacobian/jaccheck.c
M tests/kins-jacobian/test.sh
Log Message:
-----------
tests: kins-frames and kins-jacobian build their checker without sudo
Both tests skip on a system build, and runtests sets SUDO only there, so
${SUDO} never expanded to anything. The checkers also returned -1, which
the loader reports as EPERM; they now return -EINVAL for a bad parameter
or a module that gives them nothing to check, and -ERANGE when a check
fails.
Commit: bd9732fc10fe6c7b92779baf13de29370a32a648
https://github.com/LinuxCNC/linuxcnc/commit/bd9732fc10fe6c7b92779baf13de29370a32a648
Author: Luca Toniolo <107...@us...>
Date: 2026-10-11 (Sun, 11 Oct 2026)
Changed paths:
M src/emc/kinematics/pumakins.c
M tests/kins-frames/framecheck.c
M tests/kins-frames/test.sh
M tests/kins-jacobian/jaccheck.c
M tests/kins-jacobian/test.sh
A tests/pumakins-unwrap/checkresult
A tests/pumakins-unwrap/skip
A tests/pumakins-unwrap/test.sh
A tests/pumakins-unwrap/unwrapcheck.c
A tests/pumakins-unwrap/unwrapcheck.hal
Log Message:
-----------
Merge pull request #4586 from grandixximo/pumakins-4585
pumakins: keep joints 4 and 6 within a half turn of the previous value
Compare: https://github.com/LinuxCNC/linuxcnc/compare/e8a02761ceaf...bd9732fc10fe
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