It would be nice for a calibration operation to finish up at the midway point. Currently each axis is left at the end of its scan, and that can cause mechanical problems when all three axes are at their extreme limits. (For me, the ball bearings started popping off of their supports because of the large angles.)
The retraction-angle support is there for homing outside of calibration. Should I just modify calibration_plotter.py to call home() with retraction parameters just before the call to calibrate_joint()? Or would this be ineffective because calibrate_joint's M56 command would do the homing again (without any retraction)? Is there a way in the Python API to move the joints individually (after turning off the servo I guess)?
I notice that HOMING_FINISH_POS in hw_config.h is not hooked up to anything. Has it been superseded by retract_angle?
It would be nice for a calibration operation to finish up at the midway point. Currently each axis is left at the end of its scan, and that can cause mechanical problems when all three axes are at their extreme limits. (For me, the ball bearings started popping off of their supports because of the large angles.)
The retraction-angle support is there for homing outside of calibration. Should I just modify calibration_plotter.py to call home() with retraction parameters just before the call to calibrate_joint()? Or would this be ineffective because calibrate_joint's M56 command would do the homing again (without any retraction)? Is there a way in the Python API to move the joints individually (after turning off the servo I guess)?
I notice that HOMING_FINISH_POS in hw_config.h is not hooked up to anything. Has it been superseded by retract_angle?