Re: 6 axes

[Fred Proctor <proctor-at-cme.nist.gov>]

EMC folks,

Ray Henry wrote:

> How did NIST compile EMC when they tested the tabletop hexapod there?

It's based on the steppermod.o motion controller, with trivkins.o
replaced by genhexkins.o, to build minitetra.o:

# Mini-Tetra, stepper motors with hexapod kinematics
$(DEVP_LIB_DIR)/minitetra.o: \
	$(DEVP_LIB_DIR)/emcstepmot.o \
	$(DEVP_LIB_DIR)/emcmotglb.o \
	$(DEVP_LIB_DIR)/tp.o \
	$(DEVP_LIB_DIR)/tc.o \
	$(DEVP_LIB_DIR)/genhexkins.o \
	$(DEVP_LIB_DIR)/cubic.o \
	$(DEVP_LIB_DIR)/extsmmot.o \
	$(DEVP_LIB_DIR)/parport.o \
	$(DEVP_LIB_DIR)/extsimdio.o \
	$(DEVP_LIB_DIR)/extsimaio.o \
	$(DEVP_LIB_DIR)/simdio.o \
	$(DEVP_LIB_DIR)/simaio.o \
	$(DEVP_LIB_DIR)/mmxavg.o \
	$(DEVP_LIB_DIR)/emcmotlog.o \
	$(DEVP_LIB_DIR)/emcmotutil.o
	ld -r -static \
	$^ \
	$(RCS_PLATLIB)/libpm.a \
	-L/usr/lib -lm -lc \
	-o $-at-

> Will the six struts act like simple x,y,z during operation now?

Yes, but you can't get them to tilt the platform since the motion
planner refuses to serve orientation values. This is the Next Big Thing
we're working on.

--Fred