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About Trufiadok

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    Spacecraft Engineer

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  1. IKRC plugin Modified InfernalRobotics plugin - This is used by the IKRC to rotate the motors. EndEffector camera Canadarm2 robot arm You can copy directories simply, but you can also group them into subdirectories.
  2. Now it came to my mind: you had already tried dumping the robot arm after startup (step into 'flight mode')?
  3. Hi, Sometimes everything is okay, but the control window still doesn't appear. This may also be because the starting position of the window (larger than the screen size) is set incorrectly in config.xml. I updated all the config.xml on GitHub so that the starting position is 10, 10.
  4. What do you mean by 'standard canadarm': Canadarm(1)[using on SpaceShuttle] or Canadarm2 [useing on ISS]? The parts required for Canadarm2 can be found in the ..\TrufiadokAirSpaceCo\Canadarm2 subdirectory. Are you looking for the 'turn on IKRC' button on the right part? (the IKRC pugin connected to TRFCA2LEE) (not to TRFCA2LEEwCam) If these aren't the causes of the problem, send a ksp.log. (
  5. Does InfernalRobotics not work under 1.9? I'm sorry I haven't used IR in a long time. Maybe look at how Infernal Robotics Next stands now? (As far as I can see, they haven't worked with it in 11 months.)
  6. Hi @msp307, 1. Remove old version of IKRC. 2. Download 1.9.1 version from GitHub Trufiadok/IKRC-for-Kerbal-1.9.1 link 3. Copy 'TrufiadokAirSpaceCo' directory to GameData directory of Kerbal (e.g.: c:\Program Files (x86)\Steam\steamapps\common\Kerbal Space Program\GameData\) 4. Use it, if doesn't work then send me a ksp.log. I"ll trying solve your problem. I removed the binaries from source directory because this causes the problem if the source directory is also copied.
  7. Yes, copy 'plugins' and parts directory to GameData. This version is able to run in parallel with the InfernalRobotics module. The IKRC module uses ..\Plugins\IRMin.dll (IRMinimal module) as the servo API.
  8. @josselin2196 I fixed the bug, I apologize again. Updated on GitHub.
  9. I'm sorry, I'm watching now and the robot arm itself is doing the same for me. Repair in progress.
  10. @sciencepanda Hi, I'm done with the first version. It is a bit difficult to identify the independent servo motor, but it works. (I'm still thinking of a simpler solution. Ideas welcome ...) 1. Refresh IKRC module and element of Canadarm2 from GitHub. 2. Get 'persistentId' of IndepServos from *.craft file of vessel. (e.g.: The * .craft file of the vessel in the picture: c:\Program Files (x86)\Steam\steamapps\common\Kerbal Space Program\saves\Sandbox\Ships\VAB\Canadarm2IKRC1_9_1test000.craft -> 1890560618, 1607454241) ... PART { part = TRFCA2AHinge_4294577756 partName = Part persistentId = 1890560618 pos = 0.720157683,11.6895847,-3.60527706 attPos = 0,0,0 attPos0 = 0.206399918,2.16720009,-8.94069672E-08 rot = 8.94069956E-08,0.707107306,-2.98023224E-08,0.707106709 attRot = 0,0.707106769,0,0.707106769 attRot0 = 0,0.707106829,0,0.707106829 ... PART { part = TRF.CA2.BHinge_4294577562 partName = Part persistentId = 1607454241 pos = 0.720161259,11.6895857,-4.01808739 attPos = 0,0,0 attPos0 = 0.206399933,-0.103199005,-9.23872221E-07 rot = 0.707106829,-3.22557241E-07,0.707107186,-4.47034836E-07 attRot = 0.707106709,0,0.707106709,0 attRot0 = 0.707106829,0,0.707106829,0 ... 3. Set indepServos parameters in module configuration. (independentServoList -> partname of servos, independentServoPersistentId -> 'persistentId' from actual craft file, independentServoMinMaxAngles -> logically) MODULE { name = IkRobotController robotArmID = CA2 servoList = TRFCA2ARoll, TRFCA2AYaw, TRFCA2APitch, TRFCA2CElbow, TRFCA2BPitch, TRFCA2BYaw, TRFCA2BRoll, TRFCA2LEEwCam servoRealAxis = (0 1 0), (1 0 0), (0 0 1), (0 0 -1), (0 0 -1), (1 0 0), (0 1 0), (0 0 0) minMaxAngles = (-270 270), (-270 270), (-270 270), (-270 270), (-270 270), (-270 270), (-270 270), (0 0) // ColorCode format #RRGGBBAA in hex controlButtonUpDownColor = #FF00004C controlButtonLeftRightColor = #00FF004C controlButtonForwardBackwardColor = #0000FF4C debugTransforms = True workingRange = 9.0 MaxPosErr = 10.0 MaxOriErr = 180.0 DistanceThreshold = 0.01 AngleThreshold = 0.5 dynamicSamplingAngle = True independentServoList = TRFCA2AHinge, TRF.CA2.BHinge independentServoPersistentId = 1890560618, 1607454241 independentMinMaxAngles = (0 180), (0 180) }
  11. @sciencepanda Hi, Another way to move independent servo motors is to install one of the InfernalRobotics plugins. These can work in parallel with IRMinimal. (I'm working on IKRC inner independent servo control.)
  12. In theory, it’s possible through IKRC, but I have to look. I also did the "Body Roll Joint" of the dextre unit this way. The "IR Minimal" plugin only provides an API for servo motors, it has no interface.
  13. @sciencepanda Yes, both "errors" are real. The function of changing the operating direction of the arm hasn't yet been solved. This is partly due to the parent/child relationship of the objects and partly due to the operation of the servo motors of the InfernalRobotics module. I'm working on implementing this mode. The other "error" arises from the fact that on orbital the origin of the coordinate system is always the base point of the vessel's base element. If we restructure or disconnect the vessel, the coordinate system will change.