Stackmotors in Bliss (port from BM32)
@ulrich developed stackmotors for BM32. This issue is about integrating this feature in Bliss.
A Stackmotor consists in a pair of motors mounted on top of each other
- one motor with a large stroke (fast but not very precise)
- and one with a short stroke (slow but very precise).
A StackMotor can be (de)activated with stack_on
& stack_off
- when inactive only the large motor will move when moving the stack
- when active, the small motor will make the move if it stays within its limits, otherwise small motor is moved to its middle position and the large motor makes the move.
Edited by Benoit Formet