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hugh maclaurin@hughmaclaurin· 527 viewsin General Discussion

c++ version

I'm using software that i've written in c++ to run my ar2-3. the fk and ik routines are an interpretation of chris's python code. i'm using a matrix maths library for the matrix operations and the accelstepper library for the motion profiling. it results in quite a compact code base. the whole thing runs on a teensy.

it runs stand alone with a command line interface or with a control program i wrote to jog the arm using x,y,z,yaw,pitch,roll or j1-6 angles or run a script of x,y,z,yaw,pitch,roll commands. works a treat....

Comment 14

Kanatmetin

can you share

hugh maclaurin

Hi... the software is still pretty raw. Not a turnkey system like Chris's. I'm currently developing the control program which integrates the MS scripting engine. I can run my arm with VB scripts which gives it a great deal of flexibility. I'm OK with sharing but I've had to change some of the calibration parameters which seem to be incorrect. Need to start a conversation before I'd be happy to release the software... cheers

Kanatmetin

i will be waiting

If you share it, we may benefit in its development.

hugh maclaurin

Do you have an arm built that you can use? Do you know how you want to use the software?

Kanatmetin

Yes there is. so we can contribute if you share.

hugh maclaurin

I need to do some more testing, then I'll put the arduino code + my control program + a pdf description onto github.

I'm currently integrating a servo gripper that doesn't interfere with the calibration.

Kanatmetin

I'm looking forward to.

hugh maclaurin

I've uploaded the sketch, control application and some test files to github hugo-source/AR2-source.... cheers

Kanatmetin

thenks

hugh maclaurin

I've uploaded the sketch now.

Kanatmetin

if ( verbose ) Matrix.Print( (float*)DHt, 6, 4, "DH table");

exit status 1

no matching function for call to 'MatrixMath::Print(float*, int, int, const char [9])'

hugh maclaurin

I've compiled the sketch on both a Mega and Teensy 3.5. No problems.

Have you installed the MatrixMath library? If so, check in MatrixMath.h for the Print function prototype. If its not there, you have a different library to the one I have ( https://github.com/codebndr/MatrixMath )

hugh maclaurin

do you have a duplicate, more than one MatrixMath library installed?

hugh maclaurin

If you still have problems compiling, look under File/Examples/MatrixMath/MatrixMathExample and compile that sketch. It has a call to Print

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