fix(turret): align homing params with known-good reference to stop timeout#572
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veerwang wants to merge 1 commit into
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fix(turret): align homing params with known-good reference to stop timeout#572veerwang wants to merge 1 commit into
veerwang wants to merge 1 commit into
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…meout Homing (method 17, neg-limit switch) never asserted motion-done: the turret spun continuously while the status word's RUNNING bit (0x001F bit 12) never cleared, so home() hit its 30s timeout at startup. The homing params diverged from the validated NiMotion reference (ServoMotors/SingleMotor HomingConfig defaults). The device EEPROM had been left at the reference values (search=50, zero=20, zero_return=0); this controller overwrote them with search=1000, zero=200, zero_return=1. Restore the reference values: HOMING_SEARCH_SPEED 1000 -> 50 HOMING_ZERO_SPEED 200 -> 20 HOMING_ZERO_RETURN 1 -> 0 Verified on hardware: the turret now homes against the neg-limit switch and completes without timing out. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
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Summary
Homing (method 17, neg-limit switch) never asserted motion-done: the turret spun continuously while the status word's RUNNING bit (0x001F bit 12) never cleared, so
home()hit its 30s timeout at startup.The homing params had diverged from the validated NiMotion reference (ServoMotors/SingleMotor
HomingConfigdefaults). The device EEPROM had been left at the reference values (search=50, zero=20, zero_return=0); this controller overwrote them with search=1000, zero=200, zero_return=1.Change
software/control/objective_turret_controller.py— restore the reference values:HOMING_SEARCH_SPEEDHOMING_ZERO_SPEEDHOMING_ZERO_RETURNVerification
Verified on hardware: the turret now homes against the neg-limit switch and completes without timing out.
🤖 Generated with Claude Code