F_MOVE (unhomed) CAR -10.000 mm Rejected: CAR forc...

I’ll patch F_MOVE so it becomes a raw recovery/jog command: it will drive the selected stepper by the requested distance even while unhomed, ignore normal software travel limits, and leave the stored logical axis position unchanged. I’ll also check for any secondary position updates in the motion code so the fix is consistent.

I found that this file already has a partial forcedMoveActive bypass, but its forced-move scheduler still computes and tracks F_MOVE through the normal logical coordinate system. I’m tracing that path now because that’s exactly what can make the motor’s “raw jog” semantics inconsistent with “position stays 20 mm.”

The key change will be to give F_MOVE its own pulse counter instead of changing currentSteps. That means a logical position of 20.000 mm stays 20.000 mm before, during, and after F_MOVE, while the driver still receives the requested physical STEP pulses.

The raw path now bypasses both software travel and the physical limit switch, and it also bypasses the CAM/REL coordinate interlock. I’m making one recovery-specific adjustment as well: an axis in FAULT should still be allowed to use F_MOVE; only an actually running/homing axis and the latched emergency stop will prevent it.

The final behavior is now: F_MOVE CAR -10 at logical CAR=20 sends only raw negative STEP pulses; CAR remains logically 20.000 mm. The same applies to SLD at 0: F_MOVE SLD -10 is no longer rejected by the 0..83 mm range and does not make the stored position negative.

Fixed. F_MOVE is now a true raw recovery jog:

• Ignores 0..max software limits.
• Ignores the physical limit switch.
• Ignores CAM/REL positional interlocks.
• Works while unhomed and can be used from FAULT.
• Sends STEP pulses directly.
• Does not modify currentSteps, CAR_Position_mm, SLD_Position_mm, etc.
• Does not change the homed flag.
• Emergency STOP still works, and it won’t override an axis that is already actively moving/homing.

So, for example, if CAR logically shows 20.000 mm:

text
F_MOVE CAR -10

physically moves the CAR motor by -10 mm worth of steps, but CAR will still report 20.000 mm.

Likewise:

text
F_MOVE SLD -10

at logical SLD position 0.000 mm will physically move -10 mm instead of giving the 0.0..83.0 mm rejection, while logical SLD remains 0.000 mm.

Download the fixed AIRO_LAB3_6 firmware