[Emc-developers] Something odd with KINEMATICS_IDENTITY

[andy p. <bod...@gm...>]

I was fiddling about with a kinematics module based on trivkins last
night. I tried changing the correspondence of cartesian directions to
joint numbers, and it basically didn't work, movements in X always
changed the position of axis.0.joint-position-cmd
Changing the Kinematics type from KINEMATICS_IDENTITY to
KINEMATICS_BOTH changed the behaviour to what was expected.

I think that this means that the kinematicsForward and
kinematicsInverse functions in trivkins (and, by extension, any other
KINEMATICS_IDENTITY kinematics) are not actually used, or are used and
over-ridden. I have poked around in the code, though, and can't see
where.

The kins in question was a lot nicer in IDENTITY mode, and I rather
think that gantrykins would suit that mode better too. For example,
starting up in World mode.

For reference, I was using a 2.4.6 liveCD setup in a VM.

-- 
atp
"Torque wrenches are for the obedience of fools and the guidance of wise men"