COREXY_BY_HAL(9)

📦
version 2.9.4 · 4 versions
, in ubuntu resolute, ubuntu stonking

💖 COREXY_BY_HAL 💖

ok so this is the HAL Component page for corexy_by_hal, bestie — it's a manual page in section 9, and it's all about making CoreXY kinematics happen inside HAL. no cap.

✨ NAME ✨

corexy_by_hal — CoreXY kinematics 🦋

🎀 SYNOPSIS 🎀

loadrt corexy_by_hal [count=N|names=name1[,name2...]]

💅 DESCRIPTION 💅

So basically this component implements the CoreXY forward and inverse transformations up in HAL itself. It's giving… an alternative method for implementing CoreXY kinematics, if the usual one isn't your vibe.

In the INI file, use:

[KINS]KINEMATICS=trivkins coordinates=xyz kinstype=both

Here's the tea 🍓: this component takes two joint (j0,j1) motor position commands for a trivkins coordinates=xyz config and computes equivalent CoreXY motor commands for two motors it calls alpha and beta. And the other direction? It also takes feedback values for the those alpha,beta motor controllers and converts them into equivalent joint (j0,j1) motor position feedback values. Round trip, slay. ✨

Notes:

  1. Using trivkins with this module lets home switches trigger according to the Cartesian x,y positions. 👑
  2. Joint pin names are based on coordinates=xyz and the corresponding joint number assignments used by trivkins, so j0==x, j1==y (run man trivkins for more info, iykyk).
  3. CoreXY kinematics can also be implemented using the kinematics module named corexykins, with home switches triggered by the j0,j1 motor positions. (man kins for more info.)

🔥 FUNCTIONS 🔥

  • corexy-by-hal.N (requires a floating-point thread)

🌸 PINS 🌸

  • corexy-by-hal.N.alpha-fb float in — typ: feedback from alpha motor controller
  • corexy-by-hal.N.beta-fb float in — typ: feedback from beta motor controller
  • corexy-by-hal.N.j0-motor-pos-cmd float in — typ: from joint.0.motor-pos-cmd
  • corexy-by-hal.N.j1-motor-pos-cmd float in — typ: from joint.1.motor-pos-cmd
  • corexy-by-hal.N.j0-motor-pos-fb float out — typ: to joint.0.motor-pos-fb
  • corexy-by-hal.N.j1-motor-pos-fb float out — typ: to joint.1.motor-pos-fb
  • corexy-by-hal.N.alpha-cmd float out — typ: command to alpha motor
  • corexy-by-hal.N.beta-cmd float out — typ: command to beta ts motor

🫶 AUTHOR 🫶

Dewey Garrett, based on forum post from nbremond 💜

⭐ LICENSE ⭐

GPL — iconic behavior, honestly. 🌈

mwah, that's the whole page bestie!! 🎀 this gorgeous little doc came from the LinuxCNC Documentation crew, and it's dated 2026-03-17. go forth and CoreXY responsibly 💖✨

📦 where this page comes from