Weeding Screw bugfixes and improvements #77
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rodja
changed the title
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angelom93
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Jun 20, 2024
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This PR adds some useful improvements discovered while working with U6. The Branch is based on #76 and requires RoSys with pull request zauberzeug/rosys#133 (which is already merged on main).
The biggest change is the fix to the way the workflow identifies the next upcoming weed. Before we skipped over some weeds because of tow issues:
Also note-worthy is the introduction of the environment variable
Z_AXIS_REST_POSITIONto make the z-axis not run into its home position (which takes time). It's an env variable because this is violating the machine safety. Imagine stones or other things in the path which could potentially cause damage... so you really need to know what you are doing.