NAME

       rosekins - Kinematics for a rose engine

SYNOPSIS

       loadrt rosekins

KINEMATICS

          joint_0 linear, transverse   (perpendicular to spindle)
          joint_1 linear, longitudinal (parallel to spindle identity to z)
          joint_2 rotary, spindle      (workholding, not tool holding, e.g.
                                        not a highspeed spindle)

PINS

       rosekins.revolutions float out
              Count  of  crossings  of  the  negative  X  axis.   Clockwise  crossings  increment
              revolutions by 1, Counterclockwise crossings decrement by 1

       rosekins.theta_degrees float out
              Principal value for arctan(Y/X)

       rosekins.bigtheta_degrees float out
              Accumulated angle (theta + revolutions * 360)

NOTES

       Theta is the principal value of arctan(Y/X).  Joint_2 angle  values  are  not  limited  to
       principal  values  of  arctan(Y/X)  but accumulate continuously as the spindle is rotated.
       Hal pins are provided for the principal value and a count of the number of revolutions.

       The transverse motion is exactly perpendicular to the  spindle.   In  a  traditional  rose
       engine,  the  transverse  motion  is  created by 'rocking' the headstock about a pivot.  A
       typical pivot length combined with the limited amount of X travel in a real  machine  make
       the perpendicular approximation a reasonable model.