NAME

       corexy_by_hal - CoreXY kinematics

SYNOPSIS

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

DESCRIPTION

       Implement  CoreXY  forward and inverse transformations in HAL.  This component provides an
       alternative method for implementing CoreXY kinematics.

       In the INI file, use:

       [KINS]KINEMATICS=trivkins coordinates=xyz kinstype=both

       This  component  accepts  two  joint  (j0,j1)  motor  position  commands  for  a  trivkins
       coordinates=xyz configuration and computes equivalent CoreXY motor commands for two motors
       identified as alpha,beta.  Similarly,  the  component  accepts  feedback  values  for  the
       alpha,beta  motor  controllers  and  converts  to  equivalent joint (j0,j1) motor position
       feedback values.

       Notes:

       1) Using trivkins with this module allows  home  switches  to  trigger  according  to  the
       Cartesian x,y positions

       2)  Joint  pin  names  are  based  on  coordinates=xyz  and the corresponding joint number
       assignments used by trivkins so j0==x, j1==y (man trivkins for more information)

       3) CoreXY kinematics can also be implemented using the kinematics module named  corexykins
       with  home  switches  triggered  by  the   j0,j1  motor  positions.   (man  kins  for more
       information)

FUNCTIONS

       corexy-by-hal.N (requires a floating-point thread)

PINS

       corexy-by-hal.N.alpha-fb float in
              typ: feedback from alpha motor controller

       corexy-by-hal.N.beta-fb float in
              typ: feedback from beta  motor controller

       corexy-by-hal.N.j0-motor-pos-cmd float in
              typ: from joint.0.motor-pos-cmd

       corexy-by-hal.N.j1-motor-pos-cmd float in
              typ: from joint.1.motor-pos-cmd

       corexy-by-hal.N.j0-motor-pos-fb float out
              typ: to joint.0.motor-pos-fb

       corexy-by-hal.N.j1-motor-pos-fb float out
              typ: to joint.1.motor-pos-fb

       corexy-by-hal.N.alpha-cmd float out
              typ: command to alpha motor

       corexy-by-hal.N.beta-cmd float out
              typ: command to beta ts motor

AUTHOR

       Dewey Garrett based on forum post from nbremond

LICENSE

       GPL