Another thing that I find odd is that the extra forward movement is already added to the two angles ("odd" and "even"). This leads to the adding up of the extra movement when you change to another tool then the next one up.
For example If you change to the one after the next. You need two movements and that move will then have twice the extra forward movement and so on.
So I think the two angles "odd" and "even" need to add up to 90° and the extra forward movement to clear the pawl should be added once after all the necessary "odd" and "even" movements have been added up.
I've been working a bit on this but the jogging is giving me trouble.
Ok hope you are not getting sick of me
No worries. Gives me a chance to learn about programming a component.
[edit]
Try this :
Adjust the values here. odd and even moves without extra movements and should add up to 90°
Code:
// allow parameters to be changed by setp for fine tuning
param rw float odd_move = 40 "distance from odd tool station to even one";
param rw float even_move = 50 "distance from even tool station to odd one";
param rw float clear_move = 5 "additional move to ensure clearing the pawl";
param rw float lock_move = 10 "backward move to ensure locking";
param rw float lock_delay = 200 "delay before lock back, very roughly in ms";
Note: I still need to remove/adjust this as it does not make sense anymore. But then you need to adjust your hal as well. So we do that later.:
Code:
pin in bit ishomed = false "Status of A axis homing";
