How to display the actuator and cartesian positions in the terminal?

(Stephane Tampigny_SW) #1


I developed a new arm solution the maths are ok in Excel.
The implementation in the C++ is ok (calculation and activated in the robot and config file) so everything should be correct.
But some movements seem correct and other totally crazy.
Is there a way to display the current value in the terminal ? (displaying the cartesian can be done with M114 but i can’t get the actuators positions to compare)

also, i saw in the code that the init of the actuators is done for X,Y,Z = 0 but my solution is similar to SCARA and can’t be at 0. How can i set it to my offsets?
IE: X10 Y-30 Z0 => Alpha 0 Beta 0 Gamma 0

Thank you

Imported from wikidot