$ sign is a neat trick! It works, but only the first time. I can home and then $ into teleop but it won't work again after exiting teleop or re-homing. (Strange that my actual config doesn't have this problem. No matter.)
The sample scara config puts the home position for both joints at 0 and that's only place you can enter teleop in the example.
I changed the home position so after homing it ends up in 'bent left' position and it gives the same following error when joint1 passes 90 degrees! So I guess this is just a matter of using it right.
Note to future self and other scara users. Scarakins assumes the arm is 'bent to the right' like this.
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Now if I could only figure out where the machine limits and come from.
In the correct orientation and homed, I have machine limits of X:+230 to +400 Y:-390 to +390 I guess that means it assumes the center of the pedestal is at world coordinates X0Y0.
