Multiaxis kinematics and limits - #4374

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grandixximo:multiaxis-kins-limits

Commits on Aug 22, 2026

G12.1, G13.1: select kinematics from G-code
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G12.1, G13.1: take the kinematics from motion on every synch
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motion: record the kinematics type only once the switch succeeds
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motion: deprecate selecting the kinematics type from HAL
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motion: name the kinematics selection for what it is
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configs: select kinematics with G12.1 in the switchkins comp sims
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configs: select kinematics with G12.1 in the remaining switchkins sims
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docs: stop offering the deprecated pin as an equal way to switch
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docs: lead with the deprecation notice for the switchkins pin
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switchkins: separate the dispatch from rtapi_app_main()
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switchkins: let halcompile components use the switchkins core
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switchkins: add an out-of-tree module template
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kins: drop the kinematics.h include switchkins.h already provides
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kins: include switchkins.h as an exported header
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switchkins: install the implementation as source for out-of-tree modules
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