Today is a bug hunting day.

First of all I realized that for some reason the displacement wasn’t right: for a given 5 millimeters displacement from the code I had 3.8 mills on the gantry. I am not sure of the reason but I believe it could be related to the pitch of the threaded rod. I initially assumed that with an M8 rod the linear displacement is 1.5 mm per revolution, but I think I was probably wrong. Anyway I solved this issue then by adding a factor in the gear reduction variable, solving therefore the problem.

Issues about the dimensions of the fingers that are half of the dimension they should be. This was just due to a typo mistake very hard to find within the code.

With that said there is only one problem left while calling the function moveUntil. I guess there is an error somewhere that makes the movement go into the wrong direction with this function. But I am done for today and will solve this probably tomorrow or this weekend.

Hopefully this time it will work.

Have a good one.

Max