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RSDK-8836: Gantry Can't Home with Limit Switches #4383

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merged 1 commit into from
Sep 24, 2024
Merged

RSDK-8836: Gantry Can't Home with Limit Switches #4383

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24 changes: 13 additions & 11 deletions components/gantry/singleaxis/singleaxis.go
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Original file line number Diff line number Diff line change
Expand Up @@ -442,20 +442,22 @@ func (g *singleAxis) testLimit(ctx context.Context, pin int) (float64, error) {
break
}

// check if the wrong limit switch was hit
wrongHit, err := g.limitHit(ctx, wrongPin)
if err != nil {
return 0, err
}
if wrongHit {
err = g.motor.Stop(ctx, nil)
if len(g.limitSwitchPins) > 1 {
// check if the wrong limit switch was hit
wrongHit, err := g.limitHit(ctx, wrongPin)
if err != nil {
return 0, err
}
return 0, errors.Errorf(
"expected limit switch %v but hit limit switch %v, try switching the order in the config",
pin,
wrongPin)
if wrongHit {
err = g.motor.Stop(ctx, nil)
if err != nil {
return 0, err
}
return 0, errors.Errorf(
"expected limit switch %v but hit limit switch %v, try switching the order in the config",
pin,
wrongPin)
}
}

elapsed := time.Since(start)
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