NAME

       userkins - Template for user-built kinematics

SYNOPSIS

       loadrt userkins [count=N|names=name1[,name2...]]

DESCRIPTION

       The  userkins.comp file is a template for creating kinematics that can be user-built using
       halcompile.

       The unmodified userkins component can be used as a kinematics  file  for  a  machine  with
       identity kinematics for an xyz machine employing 3 joints (motors).

       USAGE:

         1) Copy the userkins.comp file to a user-owned
            directory (mydir).

            Note: The userkins.comp file can be downloaded from: ⟨https://github.com/LinuxCNC/
       linuxcnc/raw/2.8/src/hal/components/userkins.comp⟩
            where '2.8' is the branch name (use 'master' for
            the master branch)

            For a RIP (run-in-place) build, the file is located in
            the git tree as:
              src/hal/components/userkins.comp

         2) Edit the functions kinematicsForward() and
            kinematicsInverse() as required
         3) If required, add hal pins following examples in
            the template code
         4) Build and install the component using halcompile:
            $ cd mydir
            $ [sudo] halcompile --install userkins.comp
            # Note:
            #      sudo is required when using a deb install
            #      sudo is not required for run-in-place builds
            # $ man halcompile for more info
         5) Specify userkins in an ini file as:
            [KINS]
            KINEMATICS=userkins
            JOINTS=3
            # the number of JOINTS must agree with the
            # number of joints used in your modified userkins.comp
         6) Note: the manpage for userkins is not updated by
            halcompile --install
         7) To use a different component name, rename the file
            (example mykins.comp) and change all instances of
            'userkins' to 'mykins'

       NOTES:
         1  A 'dummy' pin is required to satisfy the requirements of
            the halcompile utility but it is not accessible to
            kinematics functions.

         2  Hal pins and parameters needed in kinematics functions
            (kinematicsForward(), kinematicsInverse()) must
            be setup in a function (userkins_setup()) invoked
            by the initial motion module call to kinematicsType().

PINS

       userkins.N.dummy bit out (default: 1)

LICENSE

       GPL