lhsrobotics / gdmux Goto Github PK
View Code? Open in Web Editor NEWGcode interpreter and demultiplexer, and a Go library for controlling the Staübli robotic arm at the London Hackspace.
Gcode interpreter and demultiplexer, and a Go library for controlling the Staübli robotic arm at the London Hackspace.
Example that stalls gdmux here: http://hastebin.com/kidoqijeve.avrasm
Happened when moving across about 500mm distance, where the move command decided to spin forearm around joint 3. This caused the wrist to plow into the table.
Readme says to uses -stdin but this flag is not present in code
Noticed the problem when killing and restating gdmux, basically the arm would go from a work position to ready and then back down. That's somewhat dangerous as it's not expected.
Maybe on startup we need a configurable start point (e.g. x0 y0 z300) and if going to that gives an error then we go to a #ppoint position instead and then send the startpoint again
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