I'm using EMC2 to control an inverted tripod machine - three cables on a triangular baseplate support a platform below. I've gotten the non-cartesian kinematics working, and I've installed the joypad jog HAL elements. Once I've calibrated the setup (which is a royal pain in the butt,) I'd like to transition out of machine coordinates and be able to jog the platform in world coordinates. The HAL axis.N jog capability appears to only operate on machine coordinates. I can jog world coordinates from the keyboard, which runs through the kinematic translation layer, but I don't see how to do that from the HAL layer.
If you're working on a cartesian machine, the trivial kinematics map the axis.N joints onto the XYZ axes. The axis.N jogs work as expected. In non-cartesian machines (tripods, hexapods, etc) you'll want to jog the machine joints for calibration and setup, but also want to jog the system in world coordinates for manual operations while in the middle of a job.
I'm re-reading the HAL documentation, but I haven't found a way to jog the world coordinates from inside HAL. The UI does it, so it clearly can be done. If anyone has suggestions or hints, I'm all ears.
Thanks.
J3