STARBackend: anchor iSWAP move_y to EEPROM parking pose#1024
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BioCam wants to merge 3 commits intoPyLabRobot:mainfrom
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STARBackend: anchor iSWAP move_y to EEPROM parking pose#1024BioCam wants to merge 3 commits intoPyLabRobot:mainfrom
STARBackend: anchor iSWAP move_y to EEPROM parking pose#1024BioCam wants to merge 3 commits intoPyLabRobot:mainfrom
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Pull request overview
Updates STARBackend’s iSWAP rotation-drive Y validation to use the per-machine EEPROM “parking” Y position as the upper bound, avoiding false rejections when parking lies beyond the PIP channel envelope.
Changes:
- Add cached backend state for iSWAP rotation-drive maximum Y (parking pose) and load it during
setup(). - Implement EEPROM read helper to fetch
py["parking"]from predefined iSWAP Y positions. - Update
iswap_rotation_drive_move_y()to validate against the cached parking Y instead ofextended_conf.pip_maximal_y_position.
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Tame the iSWAP - Part 10
Replaces
extended_conf.pip_maximal_y_position(PIP channel envelope, 606.5 mm default) with the EEPROM-stored iSWAP parking pose (py["parking"], per-machine) as the upper bound iniswap_rotation_drive_move_y.The previous validator rejected legitimate iSWAP positions past the PIP channel reach, blocking parking moves on every machine where parking sits beyond
pip_maximal_y_position.Parking value is cached at
set_up_iswap()alongside_iswap_rotation_drive_x_offset_mm.Lower bound and the
make_spacechannel-collision logic below are unchanged.