(V2.1) Robot won't move to the nearest position when sending it an impossible position

uArm-Developer / UArmForArduino

Arduino uArm Metal Library (uArm Metal only)

http://uarm-developer.github.io/UArmForArduino

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(V2.1) Robot won't move to the nearest position when sending it an impossible position #28

Open apockill opened 8 years ago

apockill commented 8 years ago

Bug: When moving to certain positions that are out of reach, the robot will return "F" and not move at all

Expected Result: The robot should move to the nearest position that is reachable, closest to the requested position.

Steps to reproduce bug: 1) Unplug robot from power and computer. 2) Plug in robot to power, then computer. 3) Send [sMovX150Y150Z1500V100] OR [sPolS1000R50H100V100] via serial