-- Under construction --
will publish here how to create additional parameters in the ini file and pass them to a kinematics module
Why do we need parameters in Kinematics ?
How can we create parameters for Kinematics ?
By the following steps:
- Use existing ini parameters or create new ones
- in function ??? in your kinematic code create one or more hal parameter and assign it to a variable of the c-code
- in hal, assign the value of the of the ini parameter to the hal parameter
ini parameter
You can use any existing parameter or add a new kinematic specific parameter.
create and assign hal parameter
in the hal file with a line like
setp mykin.L0 [AXIS_0]HOME_OFFSET
we create a new parameter and it will receive its value from inifile, section AXIS_0, HOME_OFFSET
read hal parameter in kinematic module
with
hal_param_float_new("mykin.L0", HAL_RW, &My_Param, comp_id))
we assign this value to a previously created kinematic parameter. My_Param is data type hal_float_t.