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* improved hw_config file

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* added retract angle to homing
* v1.0.3
This commit is contained in:
0x23 2025-10-22 19:09:09 +02:00
parent 40d292ff46
commit dc0278ea2b
8 changed files with 151 additions and 49 deletions
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2
firmware/MotionControllerRP/src/robot.h
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@ -93,7 +93,7 @@ class Robot : public ICommandProcessor {
void init();
void calibrate();
bool home(uint8_t joint_mask=255);
bool home(uint8_t joint_mask, float retract_angles[NUM_JOINTS]);
bool calibrate_joint(int joint_idx, bool store_calibration, bool print_measurements);
void enable_servo_control(bool enable); // enables joint servo controll if homed and calibrated