.TH ROSEKINS "9" "LinuxCNC Documentation" "Kinematics Component"

.SH NAME
rosekins \- Kinematics for a rose engine

.SH SYNOPSIS
.HP
.B loadrt rosekins

.SH KINEMATICS
   joint_0 linear, transverse   (perpendicular to spindle)
   joint_1 linear, longitudinal (parallel to spindle identity to z)
   joint_2 rotary, spindle      (workholding, not tool holding, e.g. not a highspeed spindle)

.SH PINS
.TP
.B rosekins.revolutions\fR float out
Count of crossings of the negative X axis.
Clockwise crossings increment revolutions by 1, counterclockwise crossings decrement by 1.

.TP
.B rosekins.theta_degrees\fR float out
Principal value for arctan(Y/X)

.TP
.B rosekins.bigtheta_degrees\fR float out
Accumulated angle (theta + revolutions * 360)

.SH NOTES

Theta is the principal value of arctan(Y/X).
Joint_2 angle values are not limited to principal values of arctan(Y/X)
but accumulate continuously as the spindle is rotated.
HAL pins are provided for the principal value and a count of the number of revolutions.

The transverse motion is exactly perpendicular to the spindle.
In a traditional rose engine, the transverse motion is created by 'rocking' the headstock about a pivot.
A typical pivot length combined with the limited amount of X travel in a real machine
make the perpendicular approximation a reasonable model.