cfry
commented
6 years ago I am expecting most jobs to assume Dexter could be in any position at startup and thus they should move dexter to a "starting position" before doing the domain-specific activity of the job. Do to tool paths and things that "might be in the way", this might mean moving dexter twice, ie once "straight up" as far as it can go" then, now that its theoretically clear of the workspace, over to a high "x, y start position". Then from THERE we start the job's specific movements in earnest.
One trick to normally avoid obstacles is before moving TO somewhere on the work surface, first move up to a neutral high position. This won't always work, but is a good heuristic.
On Tue, Sep 4, 2018 at 6:15 PM JamesNewton notifications@github.com wrote:
In some applications, it is not possible to have Dexter setup in a completely straight or vertical position. It would be good to be able to start Dexter in an offset position.
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JamesNewton
In some applications, it is not possible to have Dexter setup in a completely straight or vertical position. It would be good to be able to start Dexter in an offset position.