-- 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 paramneter or add kinematic specific
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("dualbipod.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.