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

问题

AIRO_LAB3_8.ino

please update code,

1- there were a feature, when position is 20 for example and i need less tham 20 position motor goes 0 first then goes this value, remove this feature, i think its in OBJ only? remove it and tell me which motors were use this feature

2- goto command, make motors moving fastest possible speed

回答

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.

思考

Inspected Arduino motion control code and motor control references

回答

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.

思考

Reviewing motor changes

I’m identifying the narrowest code change: make GOTO use the maximum movement rate while leaving other motion commands unchanged. I’m also checking whether object-home state and continuation logic can be removed cleanly without affecting unrelated behavior.

Reviewed motor changes

思考

Validating the update

I’m checking that the revised file is syntactically consistent, that no object-home references remain, and that only GOTO receives the maximum established movement rate.

Validated the update

Inspected and improved GOTO motor scheduling, then verified Arduino compilation

回答

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.

思考

Validated code references and syntax

Worked for 2m 37s

回答

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.

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