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fix(turret): align homing params with known-good reference to stop timeout #572

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fix(turret): align homing params with known-good reference to stop timeout #572

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12 changes: 9 additions & 3 deletions software/control/objective_turret_controller.py
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Original file line number Diff line number Diff line change
Expand Up @@ -83,11 +83,17 @@
# Homing defaults (auto-calibrated on first connect). Slot 1 sits at the limit
# on this turret, so counter=0 lands at the switch — HOMING_ORIGIN_OFFSET=0
# enforces that against any tool that may have written a non-zero offset.
#
# Values match the known-good NiMotion reference (ServoMotors/SingleMotor,
# HomingConfig defaults). Earlier high speeds (search=1000, zero=200) plus
# zero_return=1 made method-17 homing never assert motion-done — the turret
# spun without the status word's RUNNING bit ever clearing. The reference's
# search=50 / zero=20 / zero_return=0 home reliably against the neg-limit switch.
HOMING_METHOD = 17
HOMING_ORIGIN_OFFSET = 0
HOMING_SEARCH_SPEED = 1000
HOMING_ZERO_SPEED = 200
HOMING_ZERO_RETURN = 1
HOMING_SEARCH_SPEED = 50
HOMING_ZERO_SPEED = 20
HOMING_ZERO_RETURN = 0
DI1_FUNCTION_NEG_LIMIT = 1

# Polling
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