Fixed Z axis minimum limit switch

Changed sign of X/Y interlock
Temp modifications of communication through ethernet - fixed IP

4DrobotServer/4DrobotServer_config.h

@@ -30,11 +30,14 @@
 //byte mac[] = {0xA8, 0x61, 0x0A, 0xAE, 0x72, 0xF7};
 
 // MAC address for the Arduino on the 4DRobot
-byte mac[] = {0xA8, 0x61, 0x0A, 0xAE, 0x84, 0xEF};
+//byte mac[] = {0xA8, 0x61, 0x0A, 0xAE, 0x84, 0xEF};
+
+// MAC address for the Arduino on the 4DRobot 2
+byte mac[] = {0xA8, 0x61, 0x0A, 0xAE, 0x71, 0xAC};
 
 //To use DHCP or not to use DHCP, that's the question.
 // Comment out to use static IP configuration
-#define USE_DHCP
+//#define USE_DHCP
 
 #ifndef USE_DHCP
 IPAddress ip(192, 168, 1, 177);
@@ -67,7 +70,7 @@ const unsigned long temp_update_interval = 1000; //[ms]
 // TODO: Tune stepWait, positions
 // Note: Servo may prefer pin 9 (PWM)?
 const int grabber_servo_pin    =   9;
-const int grabber_closed       =  86; //[deg]
+const int grabber_closed       =  70; //[deg]
 const int grabber_open         = 130; //[deg]
 const int grabber_min          =   0; //[deg]
 const int grabber_max          = 180; //[deg]
@@ -96,10 +99,10 @@ const bool    stepper_backward[]             = {HIGH,LOW,LOW};
 
 //TODO: PIN4 ALSO IN USE BY ETHERNET
 //TODO: Verify reproducibility of zeroing, we may need debounce?
-const uint8_t stepper_switchMAX_pin[]         = {33,27,42}; //positive steps limit switch pins
-const uint8_t stepper_switchMIN_pin[]         = {32,26,43}; //negative steps limit switch pins
+const uint8_t stepper_switchMAX_pin[]         = {33,27,43}; //positive steps limit switch pins
+const uint8_t stepper_switchMIN_pin[]         = {32,26,42}; //negative steps limit switch pins
 //TODO: Verify active/inactive -> HIGH/LOW
-//      Note: Needs pulldown/pullup resistor
+//      Note: Needs pulldown/pullup resistori
 //      Note: Probably safest to define on-limit = open, so if a switch fails the axis is safe (but stopped)
 const bool    stepper_switch_active          = LOW;    //On limit switch when pin active
 const bool    stepper_switch_inactive        = HIGH;     //On limit switch when pin inactive
@@ -113,14 +116,14 @@ const unsigned int  stepper_accelerate_steps = 100; // When accelerating, how ma
 // When at high speed, ramp down to slow speed when
 // pos < accelerate_steps+slowzone or pos > (rail_length-accelerate_steps-slowzone)
 //TODO: Tune distances
-const unsigned long int  stepper_rail_length[]    = {1000,1000,1000}; // [steps] Total length of the rails
+const unsigned long int  stepper_rail_length[]    = {4900,6800,1760}; // [steps] Total length of the rails
 const unsigned long int  stepper_slowzone_steps   = 50;               // [steps] Take it easy when approaching limit switches
 
 //Interlocks
-const long int           stepper_Zpos_unlockXY    = 200;              // [steps] Only allow XY movements when
-                                                                 //         Zpos > Zpos_unlockXY and Z axis
+const long int           stepper_Zpos_unlockXY    = 1400;              // [steps] Only allow XY movements when
+                                                                 //         Zpos < Zpos_unlockXY and Z axis
                                                                  //         in absolute mode
-const unsigned long int  stepper_onlimit_steps    = 50;               // [steps] Number of steps to allow movement
+const unsigned long int  stepper_onlimit_steps    = 100;               // [steps] Number of steps to allow movement
                                                                  //         per command when a limit switch
                                                                  //         is active
 // ***** INTERNAL CONFIGS **********************

4DrobotServer/StepperControl.ino

@@ -18,7 +18,7 @@ void stepper_control() {
   // error if we try to move locked axis
   if( (stepper_go_axis != STEPPER_Z) and
       ( (not stepper_mode_absolute[STEPPER_Z]) or
-        (stepper_pos[STEPPER_Z] <= stepper_Zpos_unlockXY)
+        (stepper_pos[STEPPER_Z] >= stepper_Zpos_unlockXY)
       )
     ) {
     //We are trying to move a locked axis