Move the timing of the initial continuous rotation in wiregrid.py#247
Merged
BrianJKoopman merged 2 commits intomainfrom Mar 18, 2026
Merged
Move the timing of the initial continuous rotation in wiregrid.py#247BrianJKoopman merged 2 commits intomainfrom
BrianJKoopman merged 2 commits intomainfrom
Conversation
(main change) Change the timing of the initial continuous rotation in `wiregrid.py` from before the insertion to after the insertion. That's because the encoder sometimes disconnects during the insertion and forgets the correct reference encoder position (0 deg). By changing the timing of the initial continuous rotation to check the reference encoder position, we can get the correct angle even if the disconnection occurs during the insertion. (minor changes) Updated rotation duration for reference before calibration and insertion.
for more information, see https://pre-commit.ci
BrianJKoopman
approved these changes
Mar 18, 2026
Member
BrianJKoopman
left a comment
BrianJKoopman
left a comment
There was a problem hiding this comment.
This looks good to me, thanks for the PR!
Will this affect anyone's analysis downstream? We should probably warn people/track when this gets deployed if that's the case.
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
2 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
(main change) Change the timing of the initial continuous rotation in
wiregrid.pyfrom before the insertion to after the insertion. That's because the encoder sometimes disconnects during the insertion and forgets the correct reference encoder position (0 deg). By changing the timing of the initial continuous rotation to check the reference encoder position, we can get the correct angle even if the disconnection occurs during the insertion.(minor changes) Updated rotation duration for reference before calibration and insertion.