cnc-club.ru

Код: Выделить всё

dan@dan-desktop:~/linuxcnc-dev/src$ make 
Makefile:71: Makefile.inc: Нет такого файла или каталога
Makefile:82: *** Makefile.inc must specify RTPREFIX and other variables.  Останов.
dan@dan-desktop:~/linuxcnc-dev/src$ ./configure sudo make setup
configure: WARNING: you should use --build, --host, --target
configure: WARNING: you should use --build, --host, --target
configure: WARNING: you should use --build, --host, --target
checking build toplevel... /home/dan/linuxcnc-dev
checking installation prefix... run in place
checking for grep... /bin/grep
checking for egrep... /bin/egrep
checking for RT dir... Using /usr/realtime-2.6.32-122-rtai/bin/rtai-config as the RT signature
checking for location of kernel headers... using value from RTS: /usr/src/linux-headers-2.6.32-122-rtai
checking for cc version... found gcc in rtai-config
checking for sudo-gcc... no
checking for sudo-gcc... no
checking for gcc... gcc
checking whether the C compiler works... yes
checking for C compiler default output file name... a.out
checking for suffix of executables... 
checking whether we are cross compiling... no
checking for suffix of object files... o
checking whether we are using the GNU C compiler... yes
checking whether gcc accepts -g... yes
checking for gcc option to accept ISO C89... none needed
checking how to run the C preprocessor... gcc -E
checking for usability of rdtscll from asm/msr.h... no
checking for usability of linux/hidraw.h... yes
checking for libmodbus3... yes - version 3.0.1
checking for libusb-1.0... no
configure: error: libusb-1.0 not found!
install with "sudo apt-get install libusb-1.0-0-dev" or disable with
"configure --without-libusb-1.0"
dan@dan-desktop:~/linuxcnc-dev/src$ . ./scripts/rip-environment
bash: ./scripts/rip-environment: Нет такого файла или каталога
dan@dan-desktop:~/linuxcnc-dev/src$ 

Код: Выделить всё

#include "kinematics.h"      /* these decls */
#include "posemath.h"
#include "hal.h"
#include "rtapi.h"
#include "rtapi_math.h"

#define d2r(d) ((d)*PM_PI/180.0)
#define r2d(r) ((r)*180.0/PM_PI)

#ifndef hypot
#define hypot(a,b) (sqrt((a)*(a)+(b)*(b)))
#endif

struct haldata {
    hal_float_t *pivot_length;
} *haldata;

// should not even be called
int kinematicsForward(const double *joints,
            EmcPose * pos,
            const KINEMATICS_FORWARD_FLAGS * fflags,
            KINEMATICS_INVERSE_FLAGS * iflags)
{

        
    // B correction
    double xzr = hypot(joints[0], joints[2]);
    double xztheta = atan2(joints[2], joints[0]) + d2r(joints[4]);

//U correction
   double zu = joints[6] * sin(d2r(joints[4]));
   double xu = joints[6] * cos(d2r(joints[4]));

  

    pos->tran.x = xzr * cos(xztheta) - joints[6];
    pos->tran.y = joints[1];
    pos->tran.z = xzr * sin(xztheta) - joints[8];

    pos->a = joints[3];
    pos->b = joints[4];
    pos->c = joints[5];
    pos->u = joints[6];
    pos->v = joints[7];
    pos->w = joints[8];

    return 0;
}

int kinematicsInverse(const EmcPose * pos,
            double *joints,
            const KINEMATICS_INVERSE_FLAGS * iflags,
            KINEMATICS_FORWARD_FLAGS * fflags)
{
 
        
    // B correction
    double xzr = hypot(pos->tran.x, pos->tran.z);
    double xztheta = atan2(pos->tran.z, pos->tran.x) - d2r(pos->b);



    // V correction is always in joint 1 only

    joints[0] = xzr * cos(xztheta) + pos->u;
    joints[1] = pos->tran.y ;
    joints[2] = xzr * sin(xztheta) + pos->w;

    joints[3] = pos->a;
    joints[4] = pos->b;
    joints[5] = pos->c;
    joints[6] = pos->u;
    joints[7] = pos->v;
    joints[8] = pos->w;

    return 0;
}

KINEMATICS_TYPE kinematicsType()
{
    return KINEMATICS_BOTH;
}

#include "rtapi.h"      /* RTAPI realtime OS API */
#include "rtapi_app.h"      /* RTAPI realtime module decls */

EXPORT_SYMBOL(kinematicsType);
EXPORT_SYMBOL(kinematicsInverse);
EXPORT_SYMBOL(kinematicsForward);
MODULE_LICENSE("GPL");

int comp_id;
int rtapi_app_main(void) {
    int result;
    comp_id = hal_init("dankins2");
    if(comp_id < 0) return comp_id;

    haldata = hal_malloc(sizeof(struct haldata));

    result = hal_pin_float_new("dankins2.pivot-length", HAL_IO, &(haldata->pivot_length), comp_id);
    if(result < 0) goto error;

    *(haldata->pivot_length) = 0.666;

    hal_ready(comp_id);
    return 0;

error:
    hal_exit(comp_id);
    return result;
}

void rtapi_app_exit(void) { hal_exit(comp_id); }