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    1. ROBOT FORUM
    2. General Discussion
    3. c++ version
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    hugh maclaurin
    May 17, 2020

    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....

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    kanatmetin
    May 23, 2020

    can you share

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    hugh maclaurin
    May 24, 2020

    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

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    kanatmetin
    May 24, 2020

    i will be waiting

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

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    hugh maclaurin
    May 25, 2020

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

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    kanatmetin
    May 25, 2020

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

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    hugh maclaurin
    May 25, 2020

    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.

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    kanatmetin
    May 25, 2020

    I'm looking forward to.

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    hugh maclaurin
    May 28, 2020

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

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    kanatmetin
    May 28, 2020  ·  Edited: May 28, 2020

    thenks

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    hugh maclaurin
    May 30, 2020

    I've uploaded the sketch now.

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    kanatmetin
    May 31, 2020

    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])'



    is failing here

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    hugh maclaurin
    Jun 1, 2020

    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 )

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    hugh maclaurin
    Jun 1, 2020

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

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    hugh maclaurin
    Jun 1, 2020

    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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