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.\"
.\" This file was extracted from hal/components/tpcomp.comp using halcompile.g.
.\" Modify the source file.
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.TH TPCOMP "9" "2024-03-13" "LinuxCNC Documentation" "HAL Component"
.SH NAME

tpcomp \- Trajectory Planning (tp) module skeleton
.SH SYNOPSIS
.HP
Custom Trajectory Planning module loaded with \fB[TRAJ]TPMOD=tpcomp\fR

.SH DESCRIPTION


Example of a trajectory planning (tp) module buildable with
halcompile.

The tpcomp.comp file (src/hal/components/tpcomp.comp)
illustrates a method to use halcompile to build a
trajectory planning module based on the files used for the
default trajectory planner (\fBtpmod\fR).

The example tpcomp.comp is not usable until modified
for the user environment.  To create a runnable tpcomp
module, the tpcomp.comp file must be edited to supply 1) a
valid '#define TOPDIR' and 2) references to valid source
code file names for all files used.

To avoid updates that overwrite tpcomp.comp, best practice is
to rename the file and its component name (example:
\fBuser_tpcomp.comp\fR creates module: \fBuser_tpcomp\fR).

The (renamed) component can be built and installed with
halcompile and then substituted for the default tp module
(\fBtpmod\fR) using:

  $ linuxcnc \fB-t user_tpcomp\fR someconfig.ini

or by inifile setting: \fB[TRAJ]TPMOD=user_tpcomp\fR

\fBNote:\fRIf using a deb install:

1) halcompile is provided by the deb package linuxcnc-dev

2) This source file for BRANCHNAME (master,2.9,etc) is downloadable from github:

https://github.com/LinuxCNC/linuxcnc/blob/BRANCHNAME/src/hal/components/tpcomp.comp

.SH PINS
.TP
.B tpcomp.\fIN\fB.is-module\fR bit out \fR(default: \fI1\fR)
.SH AUTHOR

Dewey Garrett
.SH LICENSE

GPL