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kinematics: Use 64-bit HAL interface and adhere to new naming scheme #4775

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2 changes: 1 addition & 1 deletion docs/src/motion/kinematics-conventions.adoc
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Original file line number Diff line number Diff line change
Expand Up @@ -507,7 +507,7 @@ prefix, so nothing in a config changes.
[source,c]
----
static const kins_param_desc fiveaxis_params[] = {
{ "pivot-length", KINS_PARAM_FLOAT, KINS_IN, 0, DEFAULT_PIVOT_LENGTH },
{ "pivot-length", KINS_PARAM_REAL, KINS_IN, 0, { .r = DEFAULT_PIVOT_LENGTH } },
};
enum { P_PIVOT_LENGTH };
----
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4 changes: 2 additions & 2 deletions docs/src/motion/switchkins.adoc
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Expand Up @@ -705,8 +705,8 @@ and userk ops for the other two:
[source,c]
----
static const kins_param_desc my_params[] = {
{ "pivot-length", KINS_PARAM_FLOAT, KINS_IN, 0, 100.0 },
{ "tool-offset", KINS_PARAM_FLOAT, KINS_IN, 1, 0.0 }, // the tool length
{ "pivot-length", KINS_PARAM_REAL, KINS_IN, 0, { .r = 100.0 } },
{ "tool-offset", KINS_PARAM_REAL, KINS_IN, 1, { .r = 0.0 } }, // the tool length
};
enum { P_PIVOT_LENGTH, P_TOOL_OFFSET };

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21 changes: 16 additions & 5 deletions include/kins_module.h
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Expand Up @@ -13,6 +13,9 @@
#define __LINUXCNC_KINS_MODULE_H

#include "kinematics.h"
#include "rtapi_stdint.h"
#include "rtapi_bool.h"


#ifdef __cplusplus
extern "C" {
Expand Down Expand Up @@ -252,10 +255,10 @@ extern int identityKinematicsJacobian(const double *joint,
#define KINS_MAX_TYPES SWITCHKINS_MAX_TYPES

typedef enum {
KINS_PARAM_FLOAT = 0,
KINS_PARAM_BIT,
KINS_PARAM_S32,
KINS_PARAM_U32
KINS_PARAM_REAL = 0,
KINS_PARAM_BOOL,
KINS_PARAM_SINT,
KINS_PARAM_UINT,
} kins_param_type;

typedef enum {
Expand All @@ -274,7 +277,15 @@ typedef struct kins_param_desc_tag {
kins_param_type type;
kins_param_dir dir;
int tool;
double dflt;
// Assigning to the dflt union: If '{}' braces are omitted at init
// then the compiler will give a warning 'missing braces' and the
// value is stored as boolean because it is the first in the list.
union {
rtapi_bool b;
rtapi_real r;
rtapi_sint s;
rtapi_uint u;
} dflt;
} kins_param_desc;

/* The machine, as far as the kinematics is concerned. One copy may be
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4 changes: 2 additions & 2 deletions src/emc/kinematics/5axiskins.c
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Expand Up @@ -63,8 +63,8 @@

// the geometry, one pin each; the maths reads it from the block
static const kins_param_desc fiveaxis_params[] = {
{ "pivot-length", KINS_PARAM_FLOAT, KINS_IN, 0, DEFAULT_PIVOT_LENGTH },
{ "tool-length", KINS_PARAM_FLOAT, KINS_IN, 1, 0.0 },
{ "pivot-length", KINS_PARAM_REAL, KINS_IN, 0, {.r=DEFAULT_PIVOT_LENGTH} },
{ "tool-length", KINS_PARAM_REAL, KINS_IN, 1, {.r=0.0} },
};
enum { P_PIVOT_LENGTH, P_TOOL_LENGTH };

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56 changes: 28 additions & 28 deletions src/emc/kinematics/genhexkins.c
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Expand Up @@ -150,19 +150,19 @@ enum {
};

#define STRUT_ROWS(i, bx, by, bz, px, py, pz, bnx, bny, bnz, pnx, pny, pnz) \
{ "base." #i ".x", KINS_PARAM_FLOAT, KINS_IN, 0, bx }, \
{ "base." #i ".y", KINS_PARAM_FLOAT, KINS_IN, 0, by }, \
{ "base." #i ".z", KINS_PARAM_FLOAT, KINS_IN, 0, bz }, \
{ "platform." #i ".x", KINS_PARAM_FLOAT, KINS_IN, 0, px }, \
{ "platform." #i ".y", KINS_PARAM_FLOAT, KINS_IN, 0, py }, \
{ "platform." #i ".z", KINS_PARAM_FLOAT, KINS_IN, 0, pz }, \
{ "base-n." #i ".x", KINS_PARAM_FLOAT, KINS_IN, 0, bnx }, \
{ "base-n." #i ".y", KINS_PARAM_FLOAT, KINS_IN, 0, bny }, \
{ "base-n." #i ".z", KINS_PARAM_FLOAT, KINS_IN, 0, bnz }, \
{ "platform-n." #i ".x", KINS_PARAM_FLOAT, KINS_IN, 0, pnx }, \
{ "platform-n." #i ".y", KINS_PARAM_FLOAT, KINS_IN, 0, pny }, \
{ "platform-n." #i ".z", KINS_PARAM_FLOAT, KINS_IN, 0, pnz }, \
{ "correction." #i, KINS_PARAM_FLOAT, KINS_OUT, 0, 0.0 }
{ "base." #i ".x", KINS_PARAM_REAL, KINS_IN, 0, {.r=bx} }, \
{ "base." #i ".y", KINS_PARAM_REAL, KINS_IN, 0, {.r=by} }, \
{ "base." #i ".z", KINS_PARAM_REAL, KINS_IN, 0, {.r=bz} }, \
{ "platform." #i ".x", KINS_PARAM_REAL, KINS_IN, 0, {.r=px} }, \
{ "platform." #i ".y", KINS_PARAM_REAL, KINS_IN, 0, {.r=py} }, \
{ "platform." #i ".z", KINS_PARAM_REAL, KINS_IN, 0, {.r=pz} }, \
{ "base-n." #i ".x", KINS_PARAM_REAL, KINS_IN, 0, {.r=bnx} }, \
{ "base-n." #i ".y", KINS_PARAM_REAL, KINS_IN, 0, {.r=bny} }, \
{ "base-n." #i ".z", KINS_PARAM_REAL, KINS_IN, 0, {.r=bnz} }, \
{ "platform-n." #i ".x", KINS_PARAM_REAL, KINS_IN, 0, {.r=pnx} }, \
{ "platform-n." #i ".y", KINS_PARAM_REAL, KINS_IN, 0, {.r=pny} }, \
{ "platform-n." #i ".z", KINS_PARAM_REAL, KINS_IN, 0, {.r=pnz} }, \
{ "correction." #i, KINS_PARAM_REAL, KINS_OUT, 0, {.r=0.0} }

static const kins_param_desc genhex_params[P_COUNT] = {
STRUT_ROWS(0, DEFAULT_BASE_0_X, DEFAULT_BASE_0_Y, DEFAULT_BASE_0_Z,
Expand All @@ -189,23 +189,23 @@ static const kins_param_desc genhex_params[P_COUNT] = {
DEFAULT_PLATFORM_5_X, DEFAULT_PLATFORM_5_Y, DEFAULT_PLATFORM_5_Z,
DEFAULT_BASE_5_NX, DEFAULT_BASE_5_NY, DEFAULT_BASE_5_NZ,
DEFAULT_PLATFORM_5_NX, DEFAULT_PLATFORM_5_NY, DEFAULT_PLATFORM_5_NZ),
[P_LAST_ITER] = { "last-iterations", KINS_PARAM_U32, KINS_OUT, 0, 0 },
[P_MAX_ITER] = { "max-iterations", KINS_PARAM_U32, KINS_OUT, 0, 0 },
[P_MAX_ERROR] = { "max-error", KINS_PARAM_FLOAT, KINS_IN, 0, 500.0 },
[P_CONV_CRITERION] = { "convergence-criterion", KINS_PARAM_FLOAT, KINS_IN, 0, 1e-9 },
[P_ITER_LIMIT] = { "limit-iterations", KINS_PARAM_U32, KINS_IN, 0, 120 },
[P_TOOL_OFFSET] = { "tool-offset", KINS_PARAM_FLOAT, KINS_IN, 1, 0.0 },
[P_SPINDLE_OFFSET] = { "spindle-offset", KINS_PARAM_FLOAT, KINS_IN, 0, 0.0 },
[P_SCREW_LEAD] = { "screw-lead", KINS_PARAM_FLOAT, KINS_IN, 0, DEFAULT_SCREW_LEAD },
[P_LAST_ITER] = { "last-iterations", KINS_PARAM_UINT, KINS_OUT, 0, {.u=0} },
[P_MAX_ITER] = { "max-iterations", KINS_PARAM_UINT, KINS_OUT, 0, {.u=0} },
[P_MAX_ERROR] = { "max-error", KINS_PARAM_REAL, KINS_IN, 0, {.r=500.0} },
[P_CONV_CRITERION] = { "convergence-criterion", KINS_PARAM_REAL, KINS_IN, 0, {.r=1e-9} },
[P_ITER_LIMIT] = { "limit-iterations", KINS_PARAM_UINT, KINS_IN, 0, {.u=120} },
[P_TOOL_OFFSET] = { "tool-offset", KINS_PARAM_REAL, KINS_IN, 1, {.r=0.0} },
[P_SPINDLE_OFFSET] = { "spindle-offset", KINS_PARAM_REAL, KINS_IN, 0, {.r=0.0} },
[P_SCREW_LEAD] = { "screw-lead", KINS_PARAM_REAL, KINS_IN, 0, {.r=DEFAULT_SCREW_LEAD} },
// the pose the forward found, for a vismach gui; switchkins provides
// the skgui.* pins for the same purpose
[P_GUI_X] = { "x", KINS_PARAM_FLOAT, KINS_OUT, 0, 0.0 },
[P_GUI_Y] = { "y", KINS_PARAM_FLOAT, KINS_OUT, 0, 0.0 },
[P_GUI_Z] = { "z", KINS_PARAM_FLOAT, KINS_OUT, 0, 0.0 },
[P_GUI_A] = { "a", KINS_PARAM_FLOAT, KINS_OUT, 0, 0.0 },
[P_GUI_B] = { "b", KINS_PARAM_FLOAT, KINS_OUT, 0, 0.0 },
[P_GUI_C] = { "c", KINS_PARAM_FLOAT, KINS_OUT, 0, 0.0 },
[P_FWD_FAIL] = { "fwd-kins-fail", KINS_PARAM_BIT, KINS_OUT, 0, 0 },
[P_GUI_X] = { "x", KINS_PARAM_REAL, KINS_OUT, 0, {.r=0.0} },
[P_GUI_Y] = { "y", KINS_PARAM_REAL, KINS_OUT, 0, {.r=0.0} },
[P_GUI_Z] = { "z", KINS_PARAM_REAL, KINS_OUT, 0, {.r=0.0} },
[P_GUI_A] = { "a", KINS_PARAM_REAL, KINS_OUT, 0, {.r=0.0} },
[P_GUI_B] = { "b", KINS_PARAM_REAL, KINS_OUT, 0, {.r=0.0} },
[P_GUI_C] = { "c", KINS_PARAM_REAL, KINS_OUT, 0, {.r=0.0} },
[P_FWD_FAIL] = { "fwd-kins-fail", KINS_PARAM_BOOL, KINS_OUT, 0, {.b=0} },
};

// the most iterations a converged solution has taken this session, kept
Expand Down
12 changes: 6 additions & 6 deletions src/emc/kinematics/genserfuncs.c
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Expand Up @@ -68,10 +68,10 @@ enum {
};

#define JOINT_ROWS(i, a, alpha, d) \
{ "A-" #i, KINS_PARAM_FLOAT, KINS_IN, 0, a }, \
{ "ALPHA-" #i, KINS_PARAM_FLOAT, KINS_IN, 0, alpha }, \
{ "D-" #i, KINS_PARAM_FLOAT, KINS_IN, 0, d }, \
{ "unrotate-" #i, KINS_PARAM_S32, KINS_IN, 0, 0 }
{ "A-" #i, KINS_PARAM_REAL, KINS_IN, 0, {.r=a} }, \
{ "ALPHA-" #i, KINS_PARAM_REAL, KINS_IN, 0, {.r=alpha} }, \
{ "D-" #i, KINS_PARAM_REAL, KINS_IN, 0, {.r=d} }, \
{ "unrotate-" #i, KINS_PARAM_SINT, KINS_IN, 0, {.s=0} }

const kins_param_desc GENSER_PARAMS[P_COUNT] = {
JOINT_ROWS(0, DEFAULT_A1, DEFAULT_ALPHA1, DEFAULT_D1),
Expand All @@ -80,8 +80,8 @@ const kins_param_desc GENSER_PARAMS[P_COUNT] = {
JOINT_ROWS(3, DEFAULT_A4, DEFAULT_ALPHA4, DEFAULT_D4),
JOINT_ROWS(4, DEFAULT_A5, DEFAULT_ALPHA5, DEFAULT_D5),
JOINT_ROWS(5, DEFAULT_A6, DEFAULT_ALPHA6, DEFAULT_D6),
[P_LAST_ITER] = { "last-iterations", KINS_PARAM_U32, KINS_OUT, 0, 0 },
[P_MAX_ITER] = { "max-iterations", KINS_PARAM_U32, KINS_IN, 0, GENSER_DEFAULT_MAX_ITERATIONS },
[P_LAST_ITER] = { "last-iterations", KINS_PARAM_UINT, KINS_OUT, 0, {.u=0} },
[P_MAX_ITER] = { "max-iterations", KINS_PARAM_UINT, KINS_IN, 0, {.u=GENSER_DEFAULT_MAX_ITERATIONS} },
};
const int GENSER_NPARAMS = P_COUNT;

Expand Down
60 changes: 41 additions & 19 deletions src/emc/kinematics/kins_util.c
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Expand Up @@ -1532,8 +1532,16 @@ int kinsParamsInit(kins_params *p,
return -1;
}
for (i = 0; i < info->nparams; i++) {
p->geometry[i] = info->params[i].dflt;
if (info->params[i].tool) { p->tool.tran.z = info->params[i].dflt; }
double v;
switch(info->params[i].type) {
case KINS_PARAM_REAL: v = info->params[i].dflt.r; break;
case KINS_PARAM_BOOL: v = info->params[i].dflt.b ? 1.0 : 0.0; break;
case KINS_PARAM_SINT: v = info->params[i].dflt.s; break;
case KINS_PARAM_UINT: v = info->params[i].dflt.u; break;
default: v = 0.0; break;
}
p->geometry[i] = v;
if (info->params[i].tool) { p->tool.tran.z = v; }
}
return 0;
} // kinsParamsInit()
Expand Down Expand Up @@ -1789,17 +1797,17 @@ int kinsParamsPinsCreate(int comp_id, const char *prefix,
const kins_param_desc *d = &params[i];
hal_pdir_t dir = d->dir == KINS_OUT ? HAL_OUT : d->dir == KINS_IO ? HAL_IO : HAL_IN;
switch (d->type) {
case KINS_PARAM_FLOAT:
res += hal_pin_new_real(comp_id, dir, &pins[i].r, d->dflt, "%s.%s", prefix, d->name);
case KINS_PARAM_REAL:
res += hal_pin_new_real(comp_id, dir, &pins[i].r, d->dflt.r, "%s.%s", prefix, d->name);
break;
case KINS_PARAM_BIT:
res += hal_pin_new_bool(comp_id, dir, &pins[i].b, d->dflt != 0, "%s.%s", prefix, d->name);
case KINS_PARAM_BOOL:
res += hal_pin_new_bool(comp_id, dir, &pins[i].b, d->dflt.b, "%s.%s", prefix, d->name);
break;
case KINS_PARAM_S32:
res += hal_pin_new_si32(comp_id, dir, &pins[i].s, (rtapi_s32)d->dflt, "%s.%s", prefix, d->name);
case KINS_PARAM_SINT:
res += hal_pin_new_sint(comp_id, dir, &pins[i].s, d->dflt.s, "%s.%s", prefix, d->name);
break;
case KINS_PARAM_U32:
res += hal_pin_new_ui32(comp_id, dir, &pins[i].u, (rtapi_u32)d->dflt, "%s.%s", prefix, d->name);
case KINS_PARAM_UINT:
res += hal_pin_new_uint(comp_id, dir, &pins[i].u, d->dflt.u, "%s.%s", prefix, d->name);
break;
default:
res = -1;
Expand All @@ -1824,10 +1832,10 @@ void kinsParamsPinsRead(const kins_pin_ref *pins,
double v;
if (d->dir == KINS_OUT) { continue; }
switch (d->type) {
case KINS_PARAM_FLOAT: v = hal_get_real(pins[i].r); break;
case KINS_PARAM_BIT: v = hal_get_bool(pins[i].b) ? 1.0 : 0.0; break;
case KINS_PARAM_S32: v = hal_get_si32(pins[i].s); break;
case KINS_PARAM_U32: v = hal_get_ui32(pins[i].u); break;
case KINS_PARAM_REAL: v = hal_get_real(pins[i].r); break;
case KINS_PARAM_BOOL: v = hal_get_bool(pins[i].b) ? 1.0 : 0.0; break;
case KINS_PARAM_SINT: v = hal_get_sint(pins[i].s); break;
case KINS_PARAM_UINT: v = hal_get_uint(pins[i].u); break;
default: v = 0;
}
p->geometry[i] = v;
Expand All @@ -1843,12 +1851,26 @@ void kinsParamsPinsWrite(const kins_pin_ref *pins,
if (!pins || !params || !s) { return; }
for (i = 0; i < nparams && i < KINS_MAX_PARAMS; i++) {
const kins_param_desc *d = &params[i];
if (d->dir != KINS_OUT) { continue; }
if (d->dir != KINS_OUT || isnan(s->out[i])) { continue; }
switch (d->type) {
case KINS_PARAM_FLOAT: hal_set_real(pins[i].r, s->out[i]); break;
case KINS_PARAM_BIT: hal_set_bool(pins[i].b, s->out[i] != 0); break;
case KINS_PARAM_S32: hal_set_si32(pins[i].s, (rtapi_s32)s->out[i]); break;
case KINS_PARAM_U32: hal_set_ui32(pins[i].u, (rtapi_u32)s->out[i]); break;
case KINS_PARAM_REAL: hal_set_real(pins[i].r, s->out[i]); break;
case KINS_PARAM_BOOL: hal_set_bool(pins[i].b, s->out[i] != 0.0); break;
case KINS_PARAM_SINT:
if (s->out[i] >= (rtapi_real)RTAPI_SINT_MAX)
hal_set_sint(pins[i].s, RTAPI_SINT_MAX);
else if (s->out[i] <= (rtapi_real)RTAPI_SINT_MIN)
hal_set_sint(pins[i].s, RTAPI_SINT_MIN);
else
hal_set_sint(pins[i].s, (rtapi_sint)s->out[i]);
break;
case KINS_PARAM_UINT:
if (s->out[i] < 0.0)
hal_set_uint(pins[i].u, 0);
else if (s->out[i] >= (rtapi_real)RTAPI_UINT_MAX)
hal_set_uint(pins[i].u, RTAPI_UINT_MAX);
else
hal_set_uint(pins[i].u, s->out[i]);
break;
default: break;
}
}
Expand Down
4 changes: 2 additions & 2 deletions src/emc/kinematics/lineardeltakins.c
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Expand Up @@ -25,8 +25,8 @@

// the two lengths, one pin each
static const kins_param_desc ld_params[] = {
{ "R", KINS_PARAM_FLOAT, KINS_IN, 0, DELTA_RADIUS },
{ "L", KINS_PARAM_FLOAT, KINS_IN, 0, DELTA_DIAGONAL_ROD },
{ "R", KINS_PARAM_REAL, KINS_IN, 0, {.r=DELTA_RADIUS} },
{ "L", KINS_PARAM_REAL, KINS_IN, 0, {.r=DELTA_DIAGONAL_ROD} },
};
enum { P_R, P_L };

Expand Down
6 changes: 3 additions & 3 deletions src/emc/kinematics/maxkins.c
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Expand Up @@ -33,9 +33,9 @@

// the geometry, one pin each; the maths reads it from the block
static const kins_param_desc max_params[] = {
{ "pivot-length", KINS_PARAM_FLOAT, KINS_IO, 0, 0.666 },
{ "conventional-directions", KINS_PARAM_BIT, KINS_IN, 0, 0 }, // default is unconventional
{ "tool-length", KINS_PARAM_FLOAT, KINS_IN, 1, 0 },
{ "pivot-length", KINS_PARAM_REAL, KINS_IO, 0, {.r=0.666} },
{ "conventional-directions", KINS_PARAM_BOOL, KINS_IN, 0, {.b=0} }, // default is unconventional
{ "tool-length", KINS_PARAM_REAL, KINS_IN, 1, {.r=0} },
};
enum { P_PIVOT_LENGTH, P_CON, P_TOOL_LENGTH };

Expand Down
22 changes: 11 additions & 11 deletions src/emc/kinematics/pentakins.c
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Expand Up @@ -79,24 +79,24 @@ enum {
};

#define STRUT_ROWS(i, bx, by, bz, er, ez) \
{ "base." #i ".x", KINS_PARAM_FLOAT, KINS_IN, 0, bx }, \
{ "base." #i ".y", KINS_PARAM_FLOAT, KINS_IN, 0, by }, \
{ "base." #i ".z", KINS_PARAM_FLOAT, KINS_IN, 0, bz }, \
{ "effector." #i ".r", KINS_PARAM_FLOAT, KINS_IN, 0, er }, \
{ "effector." #i ".z", KINS_PARAM_FLOAT, KINS_IN, 0, ez }
{ "base." #i ".x", KINS_PARAM_REAL, KINS_IN, 0, {.r=bx} }, \
{ "base." #i ".y", KINS_PARAM_REAL, KINS_IN, 0, {.r=by} }, \
{ "base." #i ".z", KINS_PARAM_REAL, KINS_IN, 0, {.r=bz} }, \
{ "effector." #i ".r", KINS_PARAM_REAL, KINS_IN, 0, {.r=er} }, \
{ "effector." #i ".z", KINS_PARAM_REAL, KINS_IN, 0, {.r=ez} }

static const kins_param_desc penta_params[P_COUNT] = {
STRUT_ROWS(0, DEFAULT_BASE_0_X, DEFAULT_BASE_0_Y, DEFAULT_BASE_0_Z, DEFAULT_EFFECTOR_0_R, DEFAULT_EFFECTOR_0_Z),
STRUT_ROWS(1, DEFAULT_BASE_1_X, DEFAULT_BASE_1_Y, DEFAULT_BASE_1_Z, DEFAULT_EFFECTOR_1_R, DEFAULT_EFFECTOR_1_Z),
STRUT_ROWS(2, DEFAULT_BASE_2_X, DEFAULT_BASE_2_Y, DEFAULT_BASE_2_Z, DEFAULT_EFFECTOR_2_R, DEFAULT_EFFECTOR_2_Z),
STRUT_ROWS(3, DEFAULT_BASE_3_X, DEFAULT_BASE_3_Y, DEFAULT_BASE_3_Z, DEFAULT_EFFECTOR_3_R, DEFAULT_EFFECTOR_3_Z),
STRUT_ROWS(4, DEFAULT_BASE_4_X, DEFAULT_BASE_4_Y, DEFAULT_BASE_4_Z, DEFAULT_EFFECTOR_4_R, DEFAULT_EFFECTOR_4_Z),
[P_LAST_ITER] = { "last-iterations", KINS_PARAM_U32, KINS_OUT, 0, 0 },
[P_MAX_ITER] = { "max-iterations", KINS_PARAM_U32, KINS_OUT, 0, 0 },
[P_MAX_ERROR] = { "max-error", KINS_PARAM_FLOAT, KINS_IO, 0, 100.0 },
[P_CONV_CRITERION] = { "convergence-criterion", KINS_PARAM_FLOAT, KINS_IO, 0, 1e-9 },
[P_ITER_LIMIT] = { "limit-iterations", KINS_PARAM_U32, KINS_IO, 0, 120 },
[P_TOOL_OFFSET] = { "tool-offset", KINS_PARAM_FLOAT, KINS_IN, 1, 0.0 },
[P_LAST_ITER] = { "last-iterations", KINS_PARAM_UINT, KINS_OUT, 0, {.u=0} },
[P_MAX_ITER] = { "max-iterations", KINS_PARAM_UINT, KINS_OUT, 0, {.u=0} },
[P_MAX_ERROR] = { "max-error", KINS_PARAM_REAL, KINS_IO, 0, {.r=100.0} },
[P_CONV_CRITERION] = { "convergence-criterion", KINS_PARAM_REAL, KINS_IO, 0, {.r=1e-9} },
[P_ITER_LIMIT] = { "limit-iterations", KINS_PARAM_UINT, KINS_IO, 0, {.u=120} },
[P_TOOL_OFFSET] = { "tool-offset", KINS_PARAM_REAL, KINS_IN, 1, {.r=0.0} },
};

// the most iterations a converged solution has taken this session, kept
Expand Down
10 changes: 5 additions & 5 deletions src/emc/kinematics/pumakins.c
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Expand Up @@ -27,11 +27,11 @@

// the five dimensions, one pin each; the maths reads them from the block
static const kins_param_desc puma_params[] = {
{ "A2", KINS_PARAM_FLOAT, KINS_IN, 0, DEFAULT_PUMA560_A2 },
{ "A3", KINS_PARAM_FLOAT, KINS_IN, 0, DEFAULT_PUMA560_A3 },
{ "D3", KINS_PARAM_FLOAT, KINS_IN, 0, DEFAULT_PUMA560_D3 },
{ "D4", KINS_PARAM_FLOAT, KINS_IN, 0, DEFAULT_PUMA560_D4 },
{ "D6", KINS_PARAM_FLOAT, KINS_IN, 0, DEFAULT_PUMA560_D6 },
{ "A2", KINS_PARAM_REAL, KINS_IN, 0, {.r=DEFAULT_PUMA560_A2} },
{ "A3", KINS_PARAM_REAL, KINS_IN, 0, {.r=DEFAULT_PUMA560_A3} },
{ "D3", KINS_PARAM_REAL, KINS_IN, 0, {.r=DEFAULT_PUMA560_D3} },
{ "D4", KINS_PARAM_REAL, KINS_IN, 0, {.r=DEFAULT_PUMA560_D4} },
{ "D6", KINS_PARAM_REAL, KINS_IN, 0, {.r=DEFAULT_PUMA560_D6} },
};
enum { P_A2, P_A3, P_D3, P_D4, P_D6 };

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6 changes: 3 additions & 3 deletions src/emc/kinematics/rosekins.c
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Expand Up @@ -32,9 +32,9 @@ MODULE_LICENSE("GPL");

// the inverse reports the turn count it keeps and the angles it saw
static const kins_param_desc rose_params[] = {
{ "revolutions", KINS_PARAM_FLOAT, KINS_OUT, 0, 0.0 },
{ "theta_degrees", KINS_PARAM_FLOAT, KINS_OUT, 0, 0.0 },
{ "bigtheta_degrees", KINS_PARAM_FLOAT, KINS_OUT, 0, 0.0 },
{ "revolutions", KINS_PARAM_REAL, KINS_OUT, 0, {.r=0.0} },
{ "theta_degrees", KINS_PARAM_REAL, KINS_OUT, 0, {.r=0.0} },
{ "bigtheta_degrees", KINS_PARAM_REAL, KINS_OUT, 0, {.r=0.0} },
};
enum { O_REVOLUTIONS, O_THETA, O_BIGTHETA };

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8 changes: 4 additions & 4 deletions src/emc/kinematics/rotarydeltakins.c
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Expand Up @@ -26,10 +26,10 @@

// the four lengths, one pin each
static const kins_param_desc rd_params[] = {
{ "platformradius", KINS_PARAM_FLOAT, KINS_IN, 0, RDELTA_PFR },
{ "thighlength", KINS_PARAM_FLOAT, KINS_IN, 0, RDELTA_TL },
{ "shinlength", KINS_PARAM_FLOAT, KINS_IN, 0, RDELTA_SL },
{ "footradius", KINS_PARAM_FLOAT, KINS_IN, 0, RDELTA_FR },
{ "platformradius", KINS_PARAM_REAL, KINS_IN, 0, {.r=RDELTA_PFR} },
{ "thighlength", KINS_PARAM_REAL, KINS_IN, 0, {.r=RDELTA_TL} },
{ "shinlength", KINS_PARAM_REAL, KINS_IN, 0, {.r=RDELTA_SL} },
{ "footradius", KINS_PARAM_REAL, KINS_IN, 0, {.r=RDELTA_FR} },
};
enum { P_PFR, P_TL, P_SL, P_FR };

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