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Mach SDK plugin questions and answers. / Kinematics plugin development
« on: November 30, 2015, 10:04:09 AM »
I'm trying to develop a kinematics plugin (RTCP) for a XYZCA (head/head) type of CNC router for Mach3. I've got the equations figured out, but to get started I'd need to know some basics.
Where to find and how to get and set the points in x, y, and z axes? I looked at the blank plugin project and I see Engine->trajectories in the watch window. Is this where the upcoming points are stored? Are the numbers in TrajPoints numbers of steps/pulses in each axis? Is it safe to set them directly? I have the equations to map the points so that the tool tip is at the point where the g code tells it to be. I was planning to just read the trajectory points and set them to different value according to the mapping equations. Then I'd let Mach3 take care of sending the pulses to the motors. Do you see any problem with this?
To map the pulses to x, y and z units (mm, inch or degree), I'd need to know the number of pulses per unit? Where do I find this? I've searched the promising looking variables, but I don't find any...
Also, where do I find the tool length?
Where to find and how to get and set the points in x, y, and z axes? I looked at the blank plugin project and I see Engine->trajectories in the watch window. Is this where the upcoming points are stored? Are the numbers in TrajPoints numbers of steps/pulses in each axis? Is it safe to set them directly? I have the equations to map the points so that the tool tip is at the point where the g code tells it to be. I was planning to just read the trajectory points and set them to different value according to the mapping equations. Then I'd let Mach3 take care of sending the pulses to the motors. Do you see any problem with this?
To map the pulses to x, y and z units (mm, inch or degree), I'd need to know the number of pulses per unit? Where do I find this? I've searched the promising looking variables, but I don't find any...
Also, where do I find the tool length?