please update code, 1- there were a feature, when...

I’ll trace the motion logic first to find the “go to 0 before moving lower” behavior, identify exactly which motors use it, then remove it and make goto movements use the maximum configured motor speed.

I found the zero-first behavior: it is OBJ-only. The code explicitly re-homes OBJ whenever an absolute target is lower than (or equal to) its current non-zero position; CAM, REL, SLD, and CAR do not use that rule.

For GOTO, I’m using 9600 steps/sec, which this firmware already defines as its highest accepted/known-used step rate.

The edit is now applied. OBJ will move directly from a higher position to a lower requested position instead of homing to 0 first; an equal-position request simply remains a no-op as normal.

GOTO CAM/REL/OBJ/SLD/CAR ... now schedules at 9600 steps/sec for every axis, including REL (which previously ran much slower through its GOTO path). I’m doing a final consistency check for leftover OBJ re-home state/references.

Updated the code as requested.

• Zero-first feature removed: it was used only by OBJ. Previously, if OBJ was at 20 mm and you commanded a lower/equal non-zero position, it homed to 0 first and then moved to the target. Now OBJ moves directly to the lower position. CAM, REL, SLD, and CAR never used this feature.
• GOTO speed increased to 9600 steps/sec for all motors, which is the fastest rate already configured/used as valid in this firmware.
  • CAM: 6400 → 9600
  • REL: 3200 → 9600
  • OBJ: 6400 → 9600
  • SLD: 6400 → 9600
  • CAR: 6400 → 9600

I also removed the obsolete OBJ home-then-move variables and logic rather than just disabling the condition.

Download the updated AIRO_LAB3_8.ino

One note: 9600 steps/sec is the firmware's existing maximum validated rate. Since there is no acceleration ramp, if a motor physically stalls/skips when starting instantly at 9600, the speed would need adjustment.