Add user kinematics module

[euerka]

Hi all,

I have a kinematics module which works well with linuxcnc, now I am trying to migrate into machinekit.
After compiled it by ~$comp --install mykins, it seems work well until:

Mar 15 13:05:54 arm rtapi:0: 4:rtapi_app:3035:user halg_pin_newfv:192 HAL: creating pin 'axis.2.home-state' s32 OUT 0
Mar 15 13:05:54 arm rtapi:0: 3:rtapi_app:3035:user MOTION: init_hal_io() complete, 3 axes.
Mar 15 13:05:54 arm rtapi:0: 3:rtapi_app:3035:user MOTION: init_comm_buffers() starting...
Mar 15 13:05:54 arm rtapi:0: 1:rtapi_app:3035:user halg_reference_vtable:104 HAL error: vtable 'mykins' version 1000 not found
Mar 15 13:05:54 arm rtapi:0: 1:rtapi_app:3035:user MOTION: hal_reference_vtable(endefkins,1000) failed: -2
Mar 15 13:05:54 arm rtapi:0: 1:rtapi_app:3035:user MOTION: init_comm_buffers() failed
Mar 15 13:05:54 arm rtapi:0: 4:rtapi_app:3035:user halg_exit:293 HAL: removing component 311 'motmod'

I am wondering how to add user kinematics module into machinekit?

Any ideas? Thanks very much!

-chengxi

[schoo...@btinternet.com]

You probably need to build within the tree

Take genserkins as an example, place the generated C code from comp in
https://github.com/machinekit/machinekit/blob/master/src/emc/kinematics

clone the genserkins entries below for your kins component
https://github.com/machinekit/machinekit/blob/master/src/emc/kinematics/Submakefile
https://github.com/machinekit/machinekit/blob/master/src/Makefile#L499
https://github.com/machinekit/machinekit/blob/master/src/Makefile#L1568
https://github.com/machinekit/machinekit/blob/master/src/Makefile#L1875

then rebuild and test.

If that does not work would need to see the code

regards

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[euerka]

Yeah, you are right.
I refer to machinekit kinematics file structure and make small changes.
It works well now.

Thanks!