tpcomp - Trajectory Planning (tp) module skeleton
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Custom Trajectory Planning module loaded with [TRAJ]TPMOD=tpcomp |
Example of a trajectory planning (tp) module buildable with halcompile.
The tpcomp.comp file (src/hal/components/tpcomp.comp) illustrates a method to use halcompile to build a trajectory planning module based on the files used for the default trajectory planner (tpmod).
The example tpcomp.comp is not usable until modified for the user environment. To create a runnable tpcomp module, the tpcomp.comp file must be edited to supply 1) a valid ’#define TOPDIR’ and 2) references to valid source code file names for all files used.
To avoid updates that overwrite tpcomp.comp, best practice is to rename the file and its component name (example: user_tpcomp.comp creates module: user_tpcomp).
The (renamed) component can be built and installed with halcompile and then substituted for the default tp module (tpmod) using:
$ linuxcnc -t user_tpcomp someconfig.ini
or by inifile setting: [TRAJ]TPMOD=user_tpcomp
Note:If using a deb install:
1) halcompile is provided by the deb package linuxcnc-dev
2) This source file for BRANCHNAME (master,2.9,etc) is downloadable from github:
https://github.com/LinuxCNC/linuxcnc/blob/BRANCHNAME/src/hal/components/tpcomp.comp
tpcomp.N.is-module bit out (default: 1)
Dewey Garrett
GPL