Re: Planar 3dof hexapod

[shackle <shackle-at-cme.nist.gov>]

The error looks very strange. I notice that PLAT=rtlinux_2_0 but there is  a
-I/usr/src/rtlinux-2.2

Are you using rtlinux 2.0 or 2.2? You may want to run uname -r to confirm. 

It would probably also be helpful to know you're linux distrubution name and
version,  and the version of gcc you are compiling with.

-- Will





On Thu, 16 Nov 2000 05:21:45 -0500 (EST), Lukas du Plessis said:

> Hi everybody
>  
>  *First some background information:*
>   My name is Lukas and I am graduate student in Mechanical Engineering in
>  South Africa.  We have designed and built a testmodel of a "planar 3dof
>  hexapod".  It consists of a moving platform connected to a fixed base
>  via 3 linear actuators (see the attached picture).  The linear actuators
>  are ball screws driven by stepper motors.  Our planar mechanism has 3
>  dof:  2 translations and 1 rotation.
>  The idea is to (eventually) retrofit a "non-CNC machine" with our
>  "planar 3dof hexapod", so that the workpiece to be machined can be
>  attached to the moving platform of the hexapod.  The machining operation
>  is then done by controlling the hexapod.  The testmodel was built to
>  test the feasibility of this idea.  The workpiece, in this case a
>  perspex plate, will be mounted to the moving platform of the testmodel.
>  The tool, in this case a stationary pen, will mounted to the frame of
>  the testmodel.  The pen must then draw the required toolpath on the
>  perspex plate by manipulating the hexapod.
>  
>  *Now for the challenge:*
>  As mentioned above, our testmodel is driven by three stepper motors, and
>  we want to use EMC to control them.  Being a Mechanical Engineer,  I am
>  glad to say that I have two people (Hannes & Adriaan)  helping me with
>  the electronics and controls.  We are still trying to compile EMC, and
>  here is where we need your help.  The "compile errors" we get are listed
>  below:
>  
>  Script started on Tue Nov 14 14:05:04 2000
>  [root-at-localhost src]# make PLAT=rtlinux_2_0 ALL   all
>  (cd emcnml; make PLAT=rtlinux_2_0 -k all;)
>  make[1]: Entering directory `/root/emcwork/emc/src/emcnml'
>  make[1]: Nothing to be done for `all'.
>  make[1]: Leaving directory `/root/emcwork/emc/src/emcnml'
>  (cd emcsim; make PLAT=rtlinux_2_0 -k all;)
>  make[1]: Entering directory `/root/emcwork/emc/src/emcsim'
>  make[1]: Nothing to be done for `all'.
>  make[1]: Leaving directory `/root/emcwork/emc/src/emcsim'
>  (cd emcmot; make PLAT=rtlinux_2_0 -k all;)
>  make[1]: Entering directory `/root/emcwork/emc/src/emcmot'
>  ( test; \
>  gcc emcstepmot.c -c -DRTLINUX -Drtlinux  -Drtlinux2 -DNO_STDIO_SUPPORT
>  -Drtlinux_2_0   -I/usr/src/rtlinux-2.2/linux/include
>  -I/usr/src/rtlinux-2.2/include -I/usr/src/rtlinux-2.2
>  -I/usr/src/rtlinux-2.2/include/posix -Wall -Wstrict-prototypes -O2
>  -D__RTL__ -D__KERNEL__ -DMODULE -pipe -fno-strength-reduce -m486
>  -malign-loops=2 -malign-jumps=2 -malign-functions=2 -DCPU=686
>  -fomit-frame-pointer  -DPLATNAME=\"rtlinux_2_0\"  \
>  -I../../../emc/plat/rtlinux_2_0/include
>  -I../../../emc/plat/rtlinux_2_0/include
>  -I../../../rcslib/plat/rtlinux_2_0/include \
>  -DSTEPPER_MOTORS \
>  -o ../../../emc/plat/rtlinux_2_0/lib/emcstepmot.o )
>  In file included from emcstepmot.c:263:
>  /usr/src/rtlinux-2.2/include/rtl_sched.h:20: `#include' expects
>  "FILENAME" or <FILENAME>
>  In file included from emcstepmot.c:263:
>  /usr/src/rtlinux-2.2/include/rtl_sched.h:53: parse error before
>  `RTL_FPU_CONTEXT'
>  /usr/src/rtlinux-2.2/include/rtl_sched.h:53: warning: no semicolon at
>  end of struct or union
>  /usr/src/rtlinux-2.2/include/rtl_sched.h:63: parse error before `}'
>  /usr/src/rtlinux-2.2/include/rtl_sched.h:86: field `rtl_linux_task' has
>  incomplete type
>  /usr/src/rtlinux-2.2/include/rtl_sched.h:87: field `idle_task' has
>  incomplete type
>  /usr/src/rtlinux-2.2/include/rtl_sched.h: In function
>  `pthread_setschedparam':
>  /usr/src/rtlinux-2.2/include/rtl_sched.h:226: dereferencing pointer to
>  incomplete type
>  /usr/src/rtlinux-2.2/include/rtl_sched.h: In function
>  `pthread_getschedparam':
>  /usr/src/rtlinux-2.2/include/rtl_sched.h:232: dereferencing pointer to
>  incomplete type
>  make[1]: *** [../../../emc/plat/rtlinux_2_0/lib/emcstepmot.o] Error 1
>  make[1]: *** No rule to make target
>  `../../../emc/plat/rtlinux_2_0/lib/emcstepmot.o', needed by
>  `../../../emc/plat/rtlinux_2_0/lib/steppermod.o'.
>  make[1]: Target `all' not remade because of errors.
>  make[1]: Leaving directory `/root/emcwork/emc/src/emcmot'
>  make: *** [all] Error 2
>  [root-at-localhost src]# exit
>  exit
>  
>  Script done on Tue Nov 14 14:05:59 2000
>  
>  Any help and/or comments will be greatly appreciated.
>  
>  Thank you
>  
>  Lukas du Plessis
>  

-- 
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