diff --git a/CAD/Stls/Legs 2 v2.stl b/CAD/Stls/Legs 2 v2.stl new file mode 100644 index 0000000..ec231b6 Binary files /dev/null and b/CAD/Stls/Legs 2 v2.stl differ diff --git a/CAD/Stls/Nut Connector v1.stl b/CAD/Stls/Nut Connector v1.stl new file mode 100644 index 0000000..b7fab99 Binary files /dev/null and b/CAD/Stls/Nut Connector v1.stl differ diff --git a/CAD/Stls/Slide_Nut Connector v6.stl b/CAD/Stls/Slide_Nut Connector v6.stl new file mode 100644 index 0000000..25abbeb Binary files /dev/null and b/CAD/Stls/Slide_Nut Connector v6.stl differ diff --git a/CAD/Stls/Temp Top v3.stl b/CAD/Stls/Temp Top v3.stl new file mode 100644 index 0000000..60b9c96 Binary files /dev/null and b/CAD/Stls/Temp Top v3.stl differ diff --git a/CAD/Stls/Top v3.stl b/CAD/Stls/Top v3.stl new file mode 100644 index 0000000..86ca6ff Binary files /dev/null and b/CAD/Stls/Top v3.stl differ diff --git a/Code/Arduino Code/Test/GoOnUserInput/GoOnUserInput.ino b/Code/Arduino Code/Test/GoOnUserInput/GoOnUserInput.ino new file mode 100644 index 0000000..106b3d9 --- /dev/null +++ b/Code/Arduino Code/Test/GoOnUserInput/GoOnUserInput.ino @@ -0,0 +1,139 @@ +/* This example shows basic use of the AMIS-30543 stepper motor +driver. + +It shows how to initialize the driver, set the current limit, set +the micro-stepping mode, and enable the driver. It shows how to +send pulses to the NXT/STEP pin to get the driver to take steps +and how to switch directions using the DIR pin. The DO pin is +not used and does not need to be connected. + +Before using this example, be sure to change the +setCurrentMilliamps line to have an appropriate current limit for +your system. Also, see this library's documentation for +information about how to connect the driver: + + http://pololu.github.io/amis-30543-arduino/ +*/ + +#include +#include +#include + +const uint8_t amisDirPin = 2; +const uint8_t amisStepPin = 3; +const uint8_t amisSlaveSelect = SS; + +AMIS30543 stepper; +int a = 500; +int b = 270; +int usr; + +Encoder slidePos(0, 1); //Use pins 0 + 1 as they are both interupt pins. + +void setup() +{ + SPI.begin(); + stepper.init(amisSlaveSelect); + // Drive the NXT/STEP and DIR pins low initially. + digitalWrite(amisStepPin, LOW); + pinMode(amisStepPin, OUTPUT); + digitalWrite(amisDirPin, LOW); + pinMode(amisDirPin, OUTPUT); + + // Give the driver some time to power up. + delay(1); + + // Reset the driver to its default settings. + stepper.resetSettings(); + + // Set the current limit. You should change the number here to + // an appropriate value for your particular system. + stepper.setCurrentMilliamps(a); + + // Set the number of microsteps that correspond to one full step. + stepper.setStepMode(4); + + // Enable the motor outputs. + stepper.enableDriver(); + Serial.begin(9600); + stepper.sleep(); +} + +void loop() +{ + while(!Serial){} + Serial.print("0 for zero, 6 prints current pos, any other # probes\n"); //Going to write a + while(!Serial.available()){} + while(!Serial.available()){} + usr = Serial.parseInt(); + if(usr == 0){ + slidePos.write(0); + }else if(usr == 6){ + output(); + }else{ + // Step in the default direction 1000 times. + stepper.sleepStop(); + setDirection(0); + for (unsigned int x = 0; x < 100; x++) + { + step(); + } + stepper.setCurrentMilliamps(b); + for (unsigned int x = 0; x < 9900; x++) + { + step(); + } + output(); + delay(500); + + stepper.setCurrentMilliamps(1500); + + + // Step in the other direction 1000 times. + while(abs(slidePos.read())!=0) + { + setDirection(slidePos.read() >0 ? 1:0); + step(); + } + stepper.setCurrentMilliamps(a); + Serial.println(); + stepper.sleep(); +} +} + +// Sends a pulse on the NXT/STEP pin to tell the driver to take +// one step, and also delays to control the speed of the motor. +void step() +{ + // The NXT/STEP minimum high pulse width is 2 microseconds. + digitalWrite(amisStepPin, HIGH); + delayMicroseconds(3); + digitalWrite(amisStepPin, LOW); + delayMicroseconds(3); + + // The delay here controls the stepper motor's speed. You can + // increase the delay to make the stepper motor go slower. If + // you decrease the delay, the stepper motor will go fast, but + // there is a limit to how fast it can go before it starts + // missing steps. + delayMicroseconds(600); +} + +// Writes a high or low value to the direction pin to specify +// what direction to turn the motor. +void setDirection(bool dir) +{ + // The NXT/STEP pin must not change for at least 0.5 + // microseconds before and after changing the DIR pin. + delayMicroseconds(1); + digitalWrite(amisDirPin, dir); + delayMicroseconds(1); +} + +void output(){ + Serial.print("mm: "); + Serial.print((float)slidePos.read()/100.0, DEC); + Serial.print("\npulses: "); + Serial.print(slidePos.read(), DEC); + Serial.print("\n"); +} diff --git a/Code/Arduino Code/Test/glassScaleTest/1_5hrsOfTesting.txt b/Code/Arduino Code/Test/glassScaleTest/1_5hrsOfTesting.txt new file mode 100644 index 0000000..b3ee02c --- /dev/null +++ b/Code/Arduino Code/Test/glassScaleTest/1_5hrsOfTesting.txt @@ -0,0 +1,2760 @@ +16:52:03.987 -> mm: -25.1499996185 +16:52:03.987 -> pulses: -2515 +16:52:11.325 -> mm: -0.0500000000 +16:52:11.325 -> pulses: -5 +16:52:11.325 -> Steps taken: 10880 +16:52:11.325 -> +16:52:16.339 -> mm: -16.0900001525 +16:52:16.339 -> pulses: -1610 +16:52:21.365 -> mm: -0.0500000000 +16:52:21.365 -> pulses: -5 +16:52:21.365 -> Steps taken: 7227 +16:52:21.365 -> +16:52:28.167 -> mm: -23.2099990844 +16:52:28.167 -> pulses: -2323 +16:52:34.991 -> mm: -0.0500000000 +16:52:34.991 -> pulses: -5 +16:52:34.991 -> Steps taken: 10083 +16:52:34.991 -> +16:52:40.261 -> mm: -17.0799999237 +16:52:40.261 -> pulses: -1708 +16:52:45.572 -> mm: -0.0500000000 +16:52:45.572 -> pulses: -5 +16:52:45.572 -> Steps taken: 7645 +16:52:45.572 -> +16:52:52.894 -> mm: -25.2700004577 +16:52:52.894 -> pulses: -2528 +16:53:00.275 -> mm: -0.0500000000 +16:53:00.275 -> pulses: -5 +16:53:00.275 -> Steps taken: 10934 +16:53:00.275 -> +16:53:06.543 -> mm: -21.0100002288 +16:53:06.543 -> pulses: -2102 +16:53:12.871 -> mm: -0.0500000000 +16:53:12.871 -> pulses: -5 +16:53:12.871 -> Steps taken: 9280 +16:53:12.871 -> +16:53:20.591 -> mm: -26.7099990844 +16:53:20.591 -> pulses: -2671 +16:53:28.325 -> mm: -0.0500000000 +16:53:28.358 -> pulses: -5 +16:53:28.358 -> Steps taken: 11558 +16:53:28.358 -> +16:53:33.135 -> mm: -15.1800003051 +16:53:33.135 -> pulses: -1518 +16:53:37.944 -> mm: -0.0500000000 +16:53:37.944 -> pulses: -5 +16:53:37.944 -> Steps taken: 6866 +16:53:37.944 -> +16:53:44.654 -> mm: -22.7099990844 +16:53:44.654 -> pulses: -2272 +16:53:51.385 -> mm: -0.0500000000 +16:53:51.385 -> pulses: -5 +16:53:51.385 -> Steps taken: 9934 +16:53:51.385 -> +16:53:57.920 -> mm: -22.2000007629 +16:53:57.954 -> pulses: -2220 +16:54:04.539 -> mm: -0.0500000000 +16:54:04.539 -> pulses: -5 +16:54:04.539 -> Steps taken: 9703 +16:54:04.539 -> +16:54:11.544 -> mm: -24.0100002288 +16:54:11.544 -> pulses: -2402 +16:54:18.615 -> mm: -0.0500000000 +16:54:18.615 -> pulses: -5 +16:54:18.615 -> Steps taken: 10437 +16:54:18.615 -> +16:54:24.207 -> mm: -18.2500000000 +16:54:24.207 -> pulses: -1826 +16:54:29.823 -> mm: -0.0500000000 +16:54:29.823 -> pulses: -5 +16:54:29.823 -> Steps taken: 8159 +16:54:29.823 -> +16:54:34.358 -> mm: -14.1300001144 +16:54:34.358 -> pulses: -1413 +16:54:38.930 -> mm: -0.0500000000 +16:54:38.964 -> pulses: -5 +16:54:38.964 -> Steps taken: 6488 +16:54:38.964 -> +16:54:46.330 -> mm: -25.6000003814 +16:54:46.330 -> pulses: -2560 +16:54:53.783 -> mm: -0.0500000000 +16:54:53.783 -> pulses: -5 +16:54:53.783 -> Steps taken: 11042 +16:54:53.783 -> +16:55:00.512 -> mm: -22.8400001525 +16:55:00.512 -> pulses: -2285 +16:55:07.263 -> mm: -0.0500000000 +16:55:07.297 -> pulses: -5 +16:55:07.297 -> Steps taken: 9989 +16:55:07.297 -> +16:55:11.850 -> mm: -14.1499996185 +16:55:11.850 -> pulses: -1416 +16:55:16.429 -> mm: -0.0500000000 +16:55:16.429 -> pulses: -5 +16:55:16.429 -> Steps taken: 6499 +16:55:16.429 -> +16:55:23.374 -> mm: -23.7700004577 +16:55:23.374 -> pulses: -2377 +16:55:30.343 -> mm: -0.0500000000 +16:55:30.343 -> pulses: -5 +16:55:30.343 -> Steps taken: 10321 +16:55:30.343 -> +16:55:35.669 -> mm: -17.3999996185 +16:55:35.669 -> pulses: -1740 +16:55:41.001 -> mm: -0.0500000000 +16:55:41.001 -> pulses: -5 +16:55:41.001 -> Steps taken: 7717 +16:55:41.001 -> +16:55:48.289 -> mm: -25.0900001525 +16:55:48.289 -> pulses: -2509 +16:55:55.593 -> mm: -0.0500000000 +16:55:55.593 -> pulses: -5 +16:55:55.593 -> Steps taken: 10849 +16:55:55.593 -> +16:56:02.709 -> mm: -24.3199996948 +16:56:02.709 -> pulses: -2433 +16:56:09.885 -> mm: -0.0500000000 +16:56:09.885 -> pulses: -5 +16:56:09.885 -> Steps taken: 10613 +16:56:09.885 -> +16:56:14.315 -> mm: -13.5699996948 +16:56:14.315 -> pulses: -1357 +16:56:18.753 -> mm: -0.0500000000 +16:56:18.753 -> pulses: -5 +16:56:18.753 -> Steps taken: 6287 +16:56:18.753 -> +16:56:24.996 -> mm: -20.7199993133 +16:56:24.996 -> pulses: -2073 +16:56:31.236 -> mm: -0.0500000000 +16:56:31.236 -> pulses: -5 +16:56:31.236 -> Steps taken: 9155 +16:56:31.236 -> +16:56:39.057 -> mm: -27.4200000762 +16:56:39.057 -> pulses: -2742 +16:56:46.910 -> mm: -0.0500000000 +16:56:46.910 -> pulses: -5 +16:56:46.910 -> Steps taken: 11727 +16:56:46.910 -> +16:56:51.859 -> mm: -15.9200000762 +16:56:51.859 -> pulses: -1593 +16:56:56.878 -> mm: -0.0500000000 +16:56:56.878 -> pulses: -5 +16:56:56.878 -> Steps taken: 7153 +16:56:56.878 -> +16:57:04.566 -> mm: -26.7600002288 +16:57:04.566 -> pulses: -2676 +16:57:12.354 -> mm: -0.0500000000 +16:57:12.354 -> pulses: -5 +16:57:12.354 -> Steps taken: 11568 +16:57:12.354 -> +16:57:17.162 -> mm: -15.4399995803 +16:57:17.162 -> pulses: -1546 +16:57:22.009 -> mm: -0.0500000000 +16:57:22.009 -> pulses: -5 +16:57:22.009 -> Steps taken: 6929 +16:57:22.009 -> +16:57:28.189 -> mm: -20.5499992370 +16:57:28.189 -> pulses: -2055 +16:57:34.401 -> mm: -0.0500000000 +16:57:34.401 -> pulses: -5 +16:57:34.401 -> Steps taken: 9095 +16:57:34.401 -> +16:57:41.318 -> mm: -23.6700000762 +16:57:41.318 -> pulses: -2367 +16:57:48.266 -> mm: -0.0500000000 +16:57:48.266 -> pulses: -5 +16:57:48.266 -> Steps taken: 10267 +16:57:48.266 -> +16:57:56.142 -> mm: -27.6399993896 +16:57:56.142 -> pulses: -2764 +16:58:04.098 -> mm: -0.0500000000 +16:58:04.098 -> pulses: -5 +16:58:04.098 -> Steps taken: 11831 +16:58:04.098 -> +16:58:11.670 -> mm: -26.1599998474 +16:58:11.670 -> pulses: -2617 +16:58:19.276 -> mm: -0.0500000000 +16:58:19.276 -> pulses: -5 +16:58:19.276 -> Steps taken: 11345 +16:58:19.276 -> +16:58:25.461 -> mm: -20.5200004577 +16:58:25.461 -> pulses: -2053 +16:58:31.654 -> mm: -0.0500000000 +16:58:31.654 -> pulses: -5 +16:58:31.654 -> Steps taken: 9076 +16:58:31.654 -> +16:58:37.039 -> mm: -17.6700000762 +16:58:37.039 -> pulses: -1767 +16:58:42.434 -> mm: -0.0500000000 +16:58:42.468 -> pulses: -5 +16:58:42.468 -> Steps taken: 7814 +16:58:42.468 -> +16:58:48.872 -> mm: -21.8299999237 +16:58:48.872 -> pulses: -2183 +16:58:55.358 -> mm: -0.0500000000 +16:58:55.358 -> pulses: -5 +16:58:55.358 -> Steps taken: 9516 +16:58:55.358 -> +16:59:00.385 -> mm: -16.1200008392 +16:59:00.385 -> pulses: -1612 +16:59:05.489 -> mm: -0.0500000000 +16:59:05.489 -> pulses: -5 +16:59:05.489 -> Steps taken: 7284 +16:59:05.489 -> +16:59:13.348 -> mm: -27.6100006103 +16:59:13.348 -> pulses: -2761 +16:59:21.273 -> mm: -0.0500000000 +16:59:21.273 -> pulses: -5 +16:59:21.273 -> Steps taken: 11807 +16:59:21.273 -> +16:59:27.779 -> mm: -22.0900001525 +16:59:27.779 -> pulses: -2209 +16:59:34.324 -> mm: -0.0500000000 +16:59:34.324 -> pulses: -5 +16:59:34.324 -> Steps taken: 9627 +16:59:34.324 -> +16:59:39.185 -> mm: -15.6099996566 +16:59:39.185 -> pulses: -1562 +16:59:44.037 -> mm: -0.0500000000 +16:59:44.037 -> pulses: -5 +16:59:44.037 -> Steps taken: 6963 +16:59:44.037 -> +16:59:51.489 -> mm: -25.8600006103 +16:59:51.489 -> pulses: -2586 +16:59:59.001 -> mm: -0.0500000000 +16:59:59.001 -> pulses: -5 +16:59:59.001 -> Steps taken: 11150 +16:59:59.001 -> +17:00:03.603 -> mm: -14.3800001144 +17:00:03.603 -> pulses: -1438 +17:00:08.247 -> mm: -0.0500000000 +17:00:08.247 -> pulses: -5 +17:00:08.247 -> Steps taken: 6574 +17:00:08.247 -> +17:00:15.489 -> mm: -25.0599994659 +17:00:15.489 -> pulses: -2506 +17:00:22.780 -> mm: -0.0500000000 +17:00:22.780 -> pulses: -5 +17:00:22.780 -> Steps taken: 10818 +17:00:22.780 -> +17:00:29.493 -> mm: -22.8700008392 +17:00:29.493 -> pulses: -2288 +17:00:36.249 -> mm: -0.0500000000 +17:00:36.283 -> pulses: -5 +17:00:36.283 -> Steps taken: 9963 +17:00:36.283 -> +17:00:42.161 -> mm: -19.6800003051 +17:00:42.196 -> pulses: -1968 +17:00:48.106 -> mm: -0.0500000000 +17:00:48.106 -> pulses: -5 +17:00:48.106 -> Steps taken: 8660 +17:00:48.106 -> +17:00:53.220 -> mm: -16.4599990844 +17:00:53.220 -> pulses: -1646 +17:00:58.368 -> mm: -0.0500000000 +17:00:58.368 -> pulses: -5 +17:00:58.368 -> Steps taken: 7399 +17:00:58.368 -> +17:01:04.702 -> mm: -21.2800006866 +17:01:04.702 -> pulses: -2129 +17:01:11.057 -> mm: -0.0500000000 +17:01:11.057 -> pulses: -5 +17:01:11.057 -> Steps taken: 9334 +17:01:11.057 -> +17:01:17.483 -> mm: -21.6700000762 +17:01:17.483 -> pulses: -2167 +17:01:23.931 -> mm: -0.0500000000 +17:01:23.964 -> pulses: -5 +17:01:23.964 -> Steps taken: 9493 +17:01:23.964 -> +17:01:29.285 -> mm: -17.4099998474 +17:01:29.285 -> pulses: -1741 +17:01:34.642 -> mm: -0.0500000000 +17:01:34.642 -> pulses: -5 +17:01:34.642 -> Steps taken: 7731 +17:01:34.642 -> +17:01:42.128 -> mm: -26.0400009155 +17:01:42.128 -> pulses: -2604 +17:01:49.715 -> mm: -0.0500000000 +17:01:49.715 -> pulses: -5 +17:01:49.715 -> Steps taken: 11233 +17:01:49.715 -> +17:01:53.988 -> mm: -13.2600002288 +17:01:53.988 -> pulses: -1328 +17:01:58.333 -> mm: -0.0500000000 +17:01:58.333 -> pulses: -5 +17:01:58.333 -> Steps taken: 6088 +17:01:58.333 -> +17:02:05.181 -> mm: -23.6700000762 +17:02:05.181 -> pulses: -2368 +17:02:12.087 -> mm: -0.0500000000 +17:02:12.087 -> pulses: -5 +17:02:12.087 -> Steps taken: 10195 +17:02:12.087 -> +17:02:19.052 -> mm: -23.8700008392 +17:02:19.052 -> pulses: -2388 +17:02:26.073 -> mm: -0.0500000000 +17:02:26.073 -> pulses: -5 +17:02:26.073 -> Steps taken: 10357 +17:02:26.073 -> +17:02:30.916 -> mm: -15.7200002670 +17:02:30.916 -> pulses: -1572 +17:02:35.811 -> mm: -0.0500000000 +17:02:35.811 -> pulses: -5 +17:02:35.811 -> Steps taken: 6999 +17:02:35.811 -> +17:02:43.298 -> mm: -25.9400005340 +17:02:43.298 -> pulses: -2595 +17:02:50.786 -> mm: -0.0500000000 +17:02:50.786 -> pulses: -5 +17:02:50.786 -> Steps taken: 11148 +17:02:50.786 -> +17:02:57.961 -> mm: -24.7500000000 +17:02:57.961 -> pulses: -2476 +17:03:05.192 -> mm: -0.0500000000 +17:03:05.192 -> pulses: -5 +17:03:05.192 -> Steps taken: 10703 +17:03:05.192 -> +17:03:13.135 -> mm: -27.9099998474 +17:03:13.135 -> pulses: -2792 +17:03:21.125 -> mm: -0.0500000000 +17:03:21.125 -> pulses: -5 +17:03:21.125 -> Steps taken: 11939 +17:03:21.125 -> +17:03:28.920 -> mm: -27.2099990844 +17:03:28.920 -> pulses: -2723 +17:03:36.762 -> mm: -0.0500000000 +17:03:36.762 -> pulses: -5 +17:03:36.762 -> Steps taken: 11663 +17:03:36.762 -> +17:03:41.914 -> mm: -16.7700004577 +17:03:41.914 -> pulses: -1677 +17:03:47.125 -> mm: -0.0500000000 +17:03:47.125 -> pulses: -5 +17:03:47.125 -> Steps taken: 7486 +17:03:47.125 -> +17:03:52.699 -> mm: -18.2999992370 +17:03:52.699 -> pulses: -1830 +17:03:58.296 -> mm: -0.0500000000 +17:03:58.296 -> pulses: -5 +17:03:58.296 -> Steps taken: 8122 +17:03:58.296 -> +17:04:05.172 -> mm: -23.6499996185 +17:04:05.172 -> pulses: -2365 +17:04:12.069 -> mm: -0.0500000000 +17:04:12.069 -> pulses: -5 +17:04:12.069 -> Steps taken: 10187 +17:04:12.069 -> +17:04:17.247 -> mm: -16.8099994659 +17:04:17.247 -> pulses: -1682 +17:04:22.492 -> mm: -0.0500000000 +17:04:22.492 -> pulses: -5 +17:04:22.492 -> Steps taken: 7531 +17:04:22.492 -> +17:04:29.800 -> mm: -25.3199996948 +17:04:29.800 -> pulses: -2532 +17:04:37.134 -> mm: -0.0500000000 +17:04:37.134 -> pulses: -5 +17:04:37.134 -> Steps taken: 10898 +17:04:37.134 -> +17:04:44.959 -> mm: -27.3700008392 +17:04:44.959 -> pulses: -2737 +17:04:52.794 -> mm: -0.0500000000 +17:04:52.828 -> pulses: -5 +17:04:52.828 -> Steps taken: 11717 +17:04:52.828 -> +17:04:59.960 -> mm: -24.6499996185 +17:04:59.960 -> pulses: -2466 +17:05:07.175 -> mm: -0.0500000000 +17:05:07.175 -> pulses: -5 +17:05:07.175 -> Steps taken: 10667 +17:05:07.175 -> +17:05:11.752 -> mm: -14.3400001525 +17:05:11.752 -> pulses: -1435 +17:05:16.351 -> mm: -0.0500000000 +17:05:16.351 -> pulses: -5 +17:05:16.351 -> Steps taken: 6545 +17:05:16.351 -> +17:05:21.887 -> mm: -18.1000003814 +17:05:21.887 -> pulses: -1810 +17:05:27.411 -> mm: -0.0500000000 +17:05:27.411 -> pulses: -5 +17:05:27.411 -> Steps taken: 8020 +17:05:27.411 -> +17:05:35.261 -> mm: -27.5699996948 +17:05:35.261 -> pulses: -2758 +17:05:43.184 -> mm: -0.0500000000 +17:05:43.184 -> pulses: -5 +17:05:43.184 -> Steps taken: 11799 +17:05:43.184 -> +17:05:47.963 -> mm: -15.3000001907 +17:05:47.963 -> pulses: -1531 +17:05:52.773 -> mm: -0.0500000000 +17:05:52.773 -> pulses: -5 +17:05:52.773 -> Steps taken: 6849 +17:05:52.773 -> +17:06:00.112 -> mm: -25.6000003814 +17:06:00.112 -> pulses: -2560 +17:06:07.514 -> mm: -0.0500000000 +17:06:07.514 -> pulses: -5 +17:06:07.514 -> Steps taken: 10970 +17:06:07.514 -> +17:06:13.875 -> mm: -21.5100002288 +17:06:13.875 -> pulses: -2151 +17:06:20.296 -> mm: -0.0500000000 +17:06:20.296 -> pulses: -5 +17:06:20.296 -> Steps taken: 9403 +17:06:20.296 -> +17:06:24.668 -> mm: -13.7600002288 +17:06:24.668 -> pulses: -1377 +17:06:29.069 -> mm: -0.0500000000 +17:06:29.069 -> pulses: -5 +17:06:29.069 -> Steps taken: 6220 +17:06:29.069 -> +17:06:36.405 -> mm: -25.4799995422 +17:06:36.405 -> pulses: -2550 +17:06:43.752 -> mm: -0.0500000000 +17:06:43.752 -> pulses: -5 +17:06:43.752 -> Steps taken: 10925 +17:06:43.752 -> +17:06:48.188 -> mm: -13.8400001525 +17:06:48.188 -> pulses: -1386 +17:06:52.654 -> mm: -0.0500000000 +17:06:52.654 -> pulses: -5 +17:06:52.654 -> Steps taken: 6307 +17:06:52.654 -> +17:07:00.001 -> mm: -25.6000003814 +17:07:00.001 -> pulses: -2560 +17:07:07.401 -> mm: -0.0500000000 +17:07:07.401 -> pulses: -5 +17:07:07.401 -> Steps taken: 10958 +17:07:07.401 -> +17:07:13.276 -> mm: -19.7000007629 +17:07:13.276 -> pulses: -1971 +17:07:19.198 -> mm: -0.0500000000 +17:07:19.198 -> pulses: -5 +17:07:19.198 -> Steps taken: 8625 +17:07:19.198 -> +17:07:23.428 -> mm: -13.0699996948 +17:07:23.463 -> pulses: -1307 +17:07:27.741 -> mm: -0.0500000000 +17:07:27.741 -> pulses: -5 +17:07:27.741 -> Steps taken: 6025 +17:07:27.741 -> +17:07:35.650 -> mm: -27.7000007629 +17:07:35.650 -> pulses: -2770 +17:07:43.572 -> mm: -0.0500000000 +17:07:43.572 -> pulses: -5 +17:07:43.572 -> Steps taken: 11852 +17:07:43.572 -> +17:07:50.198 -> mm: -22.5799999237 +17:07:50.198 -> pulses: -2259 +17:07:56.881 -> mm: -0.0500000000 +17:07:56.881 -> pulses: -5 +17:07:56.881 -> Steps taken: 9823 +17:07:56.881 -> +17:08:04.263 -> mm: -25.7900009155 +17:08:04.263 -> pulses: -2580 +17:08:11.711 -> mm: -0.0500000000 +17:08:11.711 -> pulses: -5 +17:08:11.711 -> Steps taken: 11058 +17:08:11.711 -> +17:08:18.787 -> mm: -24.2800006866 +17:08:18.787 -> pulses: -2430 +17:08:25.918 -> mm: -0.0500000000 +17:08:25.918 -> pulses: -5 +17:08:25.918 -> Steps taken: 10526 +17:08:25.918 -> +17:08:32.275 -> mm: -21.7299995422 +17:08:32.275 -> pulses: -2173 +17:08:38.710 -> mm: -0.0500000000 +17:08:38.710 -> pulses: -5 +17:08:38.710 -> Steps taken: 9436 +17:08:38.710 -> +17:08:46.491 -> mm: -27.2000007629 +17:08:46.491 -> pulses: -2721 +17:08:54.322 -> mm: -0.0500000000 +17:08:54.322 -> pulses: -5 +17:08:54.322 -> Steps taken: 11669 +17:08:54.322 -> +17:08:59.902 -> mm: -18.2500000000 +17:08:59.902 -> pulses: -1827 +17:09:05.489 -> mm: -0.0500000000 +17:09:05.489 -> pulses: -5 +17:09:05.489 -> Steps taken: 8111 +17:09:05.489 -> +17:09:09.792 -> mm: -13.3299999237 +17:09:09.792 -> pulses: -1334 +17:09:14.105 -> mm: -0.0500000000 +17:09:14.105 -> pulses: -5 +17:09:14.105 -> Steps taken: 6086 +17:09:14.105 -> +17:09:19.361 -> mm: -17.1100006103 +17:09:19.361 -> pulses: -1712 +17:09:24.651 -> mm: -0.0500000000 +17:09:24.651 -> pulses: -5 +17:09:24.651 -> Steps taken: 7623 +17:09:24.651 -> +17:09:31.727 -> mm: -24.1800003051 +17:09:31.727 -> pulses: -2418 +17:09:38.796 -> mm: -0.0500000000 +17:09:38.796 -> pulses: -5 +17:09:38.796 -> Steps taken: 10497 +17:09:38.796 -> +17:09:45.878 -> mm: -24.2399997711 +17:09:45.878 -> pulses: -2426 +17:09:52.973 -> mm: -0.0500000000 +17:09:52.973 -> pulses: -5 +17:09:52.973 -> Steps taken: 10510 +17:09:52.973 -> +17:09:58.598 -> mm: -18.4099998474 +17:09:58.598 -> pulses: -1842 +17:10:04.233 -> mm: -0.0500000000 +17:10:04.233 -> pulses: -5 +17:10:04.233 -> Steps taken: 8189 +17:10:04.233 -> +17:10:08.548 -> mm: -13.3400001525 +17:10:08.548 -> pulses: -1335 +17:10:12.887 -> mm: -0.0500000000 +17:10:12.887 -> pulses: -5 +17:10:12.887 -> Steps taken: 6113 +17:10:12.887 -> +17:10:17.389 -> mm: -14.0399999618 +17:10:17.389 -> pulses: -1405 +17:10:21.900 -> mm: -0.0500000000 +17:10:21.900 -> pulses: -5 +17:10:21.900 -> Steps taken: 6383 +17:10:21.900 -> +17:10:29.543 -> mm: -26.5400009155 +17:10:29.543 -> pulses: -2655 +17:10:37.211 -> mm: -0.0500000000 +17:10:37.211 -> pulses: -5 +17:10:37.211 -> Steps taken: 11441 +17:10:37.211 -> +17:10:42.911 -> mm: -18.7600002288 +17:10:42.911 -> pulses: -1876 +17:10:48.616 -> mm: -0.0500000000 +17:10:48.616 -> pulses: -5 +17:10:48.616 -> Steps taken: 8310 +17:10:48.616 -> +17:10:55.464 -> mm: -23.6700000762 +17:10:55.464 -> pulses: -2367 +17:11:02.365 -> mm: -0.0500000000 +17:11:02.365 -> pulses: -5 +17:11:02.365 -> Steps taken: 10177 +17:11:02.365 -> +17:11:09.811 -> mm: -25.8600006103 +17:11:09.811 -> pulses: -2586 +17:11:17.289 -> mm: -0.0500000000 +17:11:17.289 -> pulses: -5 +17:11:17.289 -> Steps taken: 11124 +17:11:17.289 -> +17:11:22.473 -> mm: -16.8600006103 +17:11:22.473 -> pulses: -1687 +17:11:27.703 -> mm: -0.0500000000 +17:11:27.703 -> pulses: -5 +17:11:27.703 -> Steps taken: 7519 +17:11:27.703 -> +17:11:34.995 -> mm: -25.3199996948 +17:11:34.995 -> pulses: -2532 +17:11:42.311 -> mm: -0.0500000000 +17:11:42.311 -> pulses: -5 +17:11:42.311 -> Steps taken: 10869 +17:11:42.311 -> +17:11:49.518 -> mm: -24.9200000762 +17:11:49.518 -> pulses: -2492 +17:11:56.784 -> mm: -0.0500000000 +17:11:56.784 -> pulses: -5 +17:11:56.784 -> Steps taken: 10751 +17:11:56.784 -> +17:12:03.241 -> mm: -22.0499992370 +17:12:03.241 -> pulses: -2205 +17:12:09.773 -> mm: -0.0500000000 +17:12:09.773 -> pulses: -5 +17:12:09.773 -> Steps taken: 9570 +17:12:09.773 -> +17:12:15.690 -> mm: -19.8600006103 +17:12:15.690 -> pulses: -1986 +17:12:21.672 -> mm: -0.0500000000 +17:12:21.672 -> pulses: -5 +17:12:21.672 -> Steps taken: 8714 +17:12:21.672 -> +17:12:27.378 -> mm: -18.9400005340 +17:12:27.378 -> pulses: -1895 +17:12:33.116 -> mm: -0.0500000000 +17:12:33.116 -> pulses: -5 +17:12:33.116 -> Steps taken: 8346 +17:12:33.116 -> +17:12:38.874 -> mm: -19.2299995422 +17:12:38.874 -> pulses: -1924 +17:12:44.669 -> mm: -0.0500000000 +17:12:44.669 -> pulses: -5 +17:12:44.669 -> Steps taken: 8421 +17:12:44.669 -> +17:12:50.890 -> mm: -20.8899993896 +17:12:50.890 -> pulses: -2093 +17:12:57.124 -> mm: -0.0500000000 +17:12:57.124 -> pulses: -5 +17:12:57.124 -> Steps taken: 9145 +17:12:57.124 -> +17:13:03.540 -> mm: -21.8500003814 +17:13:03.540 -> pulses: -2185 +17:13:10.040 -> mm: -0.0500000000 +17:13:10.040 -> pulses: -5 +17:13:10.040 -> Steps taken: 9516 +17:13:10.040 -> +17:13:14.842 -> mm: -15.3400001525 +17:13:14.842 -> pulses: -1534 +17:13:19.658 -> mm: -0.0500000000 +17:13:19.658 -> pulses: -5 +17:13:19.658 -> Steps taken: 6898 +17:13:19.658 -> +17:13:25.072 -> mm: -17.7999992370 +17:13:25.072 -> pulses: -1781 +17:13:30.532 -> mm: -0.0500000000 +17:13:30.532 -> pulses: -5 +17:13:30.532 -> Steps taken: 7873 +17:13:30.532 -> +17:13:38.391 -> mm: -27.6900005340 +17:13:38.391 -> pulses: -2769 +17:13:46.330 -> mm: -0.0500000000 +17:13:46.330 -> pulses: -5 +17:13:46.330 -> Steps taken: 11810 +17:13:46.330 -> +17:13:52.509 -> mm: -20.8799991607 +17:13:52.509 -> pulses: -2089 +17:13:58.753 -> mm: -0.0500000000 +17:13:58.753 -> pulses: -5 +17:13:58.753 -> Steps taken: 9138 +17:13:58.753 -> +17:14:03.842 -> mm: -16.4799995422 +17:14:03.842 -> pulses: -1648 +17:14:09.001 -> mm: -0.0500000000 +17:14:09.001 -> pulses: -5 +17:14:09.001 -> Steps taken: 7376 +17:14:09.001 -> +17:14:13.978 -> mm: -15.9799995422 +17:14:13.978 -> pulses: -1598 +17:14:18.991 -> mm: -0.0500000000 +17:14:18.991 -> pulses: -5 +17:14:18.991 -> Steps taken: 7179 +17:14:18.991 -> +17:14:24.717 -> mm: -18.9699993133 +17:14:24.717 -> pulses: -1899 +17:14:30.488 -> mm: -0.0500000000 +17:14:30.488 -> pulses: -5 +17:14:30.488 -> Steps taken: 8390 +17:14:30.488 -> +17:14:34.924 -> mm: -13.8999996185 +17:14:34.924 -> pulses: -1391 +17:14:39.366 -> mm: -0.0500000000 +17:14:39.366 -> pulses: -5 +17:14:39.366 -> Steps taken: 6301 +17:14:39.366 -> +17:14:47.295 -> mm: -27.7500000000 +17:14:47.295 -> pulses: -2775 +17:14:55.253 -> mm: -0.0500000000 +17:14:55.253 -> pulses: -5 +17:14:55.253 -> Steps taken: 11871 +17:14:55.253 -> +17:15:03.004 -> mm: -27.1900005340 +17:15:03.004 -> pulses: -2720 +17:15:10.786 -> mm: -0.0500000000 +17:15:10.786 -> pulses: -5 +17:15:10.786 -> Steps taken: 11605 +17:15:10.786 -> +17:15:16.422 -> mm: -18.5699996948 +17:15:16.422 -> pulses: -1859 +17:15:22.102 -> mm: -0.0500000000 +17:15:22.102 -> pulses: -5 +17:15:22.102 -> Steps taken: 8241 +17:15:22.102 -> +17:15:27.439 -> mm: -17.5599994659 +17:15:27.439 -> pulses: -1756 +17:15:32.790 -> mm: -0.0500000000 +17:15:32.790 -> pulses: -5 +17:15:32.790 -> Steps taken: 7746 +17:15:32.790 -> +17:15:38.416 -> mm: -18.3799991607 +17:15:38.416 -> pulses: -1839 +17:15:44.021 -> mm: -0.0500000000 +17:15:44.021 -> pulses: -5 +17:15:44.021 -> Steps taken: 8163 +17:15:44.021 -> +17:15:49.288 -> mm: -17.2000007629 +17:15:49.288 -> pulses: -1720 +17:15:54.602 -> mm: -0.0500000000 +17:15:54.602 -> pulses: -5 +17:15:54.602 -> Steps taken: 7638 +17:15:54.602 -> +17:16:01.530 -> mm: -23.8700008392 +17:16:01.530 -> pulses: -2388 +17:16:08.499 -> mm: -0.0500000000 +17:16:08.499 -> pulses: -5 +17:16:08.499 -> Steps taken: 10299 +17:16:08.499 -> +17:16:12.824 -> mm: -13.4899997711 +17:16:12.824 -> pulses: -1350 +17:16:17.192 -> mm: -0.0500000000 +17:16:17.192 -> pulses: -5 +17:16:17.192 -> Steps taken: 6157 +17:16:17.192 -> +17:16:24.171 -> mm: -23.9699993133 +17:16:24.171 -> pulses: -2397 +17:16:31.211 -> mm: -0.0500000000 +17:16:31.211 -> pulses: -5 +17:16:31.211 -> Steps taken: 10388 +17:16:31.211 -> +17:16:37.905 -> mm: -23.0200004577 +17:16:37.939 -> pulses: -2302 +17:16:44.689 -> mm: -0.0500000000 +17:16:44.689 -> pulses: -5 +17:16:44.689 -> Steps taken: 9972 +17:16:44.689 -> +17:16:51.686 -> mm: -24.1299991607 +17:16:51.686 -> pulses: -2414 +17:16:58.732 -> mm: -0.0500000000 +17:16:58.732 -> pulses: -5 +17:16:58.732 -> Steps taken: 10418 +17:16:58.732 -> +17:17:05.635 -> mm: -23.7500000000 +17:17:05.635 -> pulses: -2377 +17:17:12.574 -> mm: -0.0500000000 +17:17:12.574 -> pulses: -5 +17:17:12.574 -> Steps taken: 10245 +17:17:12.574 -> +17:17:20.261 -> mm: -26.9500007629 +17:17:20.261 -> pulses: -2696 +17:17:28.038 -> mm: -0.0500000000 +17:17:28.038 -> pulses: -5 +17:17:28.038 -> Steps taken: 11555 +17:17:28.038 -> +17:17:34.525 -> mm: -22.0599994659 +17:17:34.525 -> pulses: -2207 +17:17:41.051 -> mm: -0.0500000000 +17:17:41.051 -> pulses: -5 +17:17:41.051 -> Steps taken: 9596 +17:17:41.051 -> +17:17:46.536 -> mm: -18.1100006103 +17:17:46.536 -> pulses: -1812 +17:17:52.087 -> mm: -0.0500000000 +17:17:52.087 -> pulses: -5 +17:17:52.087 -> Steps taken: 8019 +17:17:52.087 -> +17:17:57.817 -> mm: -19.0000000000 +17:17:57.817 -> pulses: -1902 +17:18:03.575 -> mm: -0.0500000000 +17:18:03.575 -> pulses: -5 +17:18:03.575 -> Steps taken: 8382 +17:18:03.575 -> +17:18:09.054 -> mm: -18.0300006866 +17:18:09.054 -> pulses: -1803 +17:18:14.582 -> mm: -0.0500000000 +17:18:14.582 -> pulses: -5 +17:18:14.582 -> Steps taken: 7976 +17:18:14.582 -> +17:18:20.757 -> mm: -20.6800003051 +17:18:20.757 -> pulses: -2068 +17:18:26.968 -> mm: -0.0500000000 +17:18:26.968 -> pulses: -5 +17:18:26.968 -> Steps taken: 9092 +17:18:26.968 -> +17:18:32.771 -> mm: -19.4799995422 +17:18:32.805 -> pulses: -1948 +17:18:38.654 -> mm: -0.0500000000 +17:18:38.654 -> pulses: -5 +17:18:38.654 -> Steps taken: 8524 +17:18:38.654 -> +17:18:43.525 -> mm: -15.7500000000 +17:18:43.525 -> pulses: -1576 +17:18:48.415 -> mm: -0.0500000000 +17:18:48.415 -> pulses: -5 +17:18:48.415 -> Steps taken: 7013 +17:18:48.415 -> +17:18:55.747 -> mm: -25.5300006866 +17:18:55.747 -> pulses: -2553 +17:19:03.126 -> mm: -0.0500000000 +17:19:03.126 -> pulses: -5 +17:19:03.126 -> Steps taken: 10952 +17:19:03.126 -> +17:19:08.595 -> mm: -18.0000000000 +17:19:08.595 -> pulses: -1800 +17:19:14.086 -> mm: -0.0500000000 +17:19:14.086 -> pulses: -5 +17:19:14.086 -> Steps taken: 7938 +17:19:14.086 -> +17:19:21.672 -> mm: -26.3899993896 +17:19:21.672 -> pulses: -2639 +17:19:29.294 -> mm: -0.0500000000 +17:19:29.329 -> pulses: -5 +17:19:29.329 -> Steps taken: 11366 +17:19:29.329 -> +17:19:33.596 -> mm: -13.2600002288 +17:19:33.596 -> pulses: -1326 +17:19:37.945 -> mm: -0.0500000000 +17:19:37.945 -> pulses: -5 +17:19:37.945 -> Steps taken: 6088 +17:19:37.945 -> +17:19:43.340 -> mm: -17.8099994659 +17:19:43.340 -> pulses: -1781 +17:19:48.753 -> mm: -0.0500000000 +17:19:48.753 -> pulses: -5 +17:19:48.753 -> Steps taken: 7843 +17:19:48.753 -> +17:19:54.723 -> mm: -19.9500007629 +17:19:54.723 -> pulses: -1996 +17:20:00.734 -> mm: -0.0500000000 +17:20:00.734 -> pulses: -5 +17:20:00.734 -> Steps taken: 8764 +17:20:00.734 -> +17:20:06.129 -> mm: -17.7199993133 +17:20:06.129 -> pulses: -1773 +17:20:11.530 -> mm: -0.0500000000 +17:20:11.530 -> pulses: -5 +17:20:11.530 -> Steps taken: 7813 +17:20:11.530 -> +17:20:16.830 -> mm: -17.3199996948 +17:20:16.830 -> pulses: -1733 +17:20:22.160 -> mm: -0.0500000000 +17:20:22.160 -> pulses: -5 +17:20:22.160 -> Steps taken: 7690 +17:20:22.160 -> +17:20:26.832 -> mm: -14.8299999237 +17:20:26.832 -> pulses: -1484 +17:20:31.543 -> mm: -0.0500000000 +17:20:31.543 -> pulses: -5 +17:20:31.543 -> Steps taken: 6708 +17:20:31.543 -> +17:20:36.859 -> mm: -17.3099994659 +17:20:36.859 -> pulses: -1731 +17:20:42.149 -> mm: -0.0500000000 +17:20:42.149 -> pulses: -5 +17:20:42.149 -> Steps taken: 7665 +17:20:42.149 -> +17:20:47.575 -> mm: -17.8600006103 +17:20:47.575 -> pulses: -1787 +17:20:53.037 -> mm: -0.0500000000 +17:20:53.037 -> pulses: -5 +17:20:53.037 -> Steps taken: 7894 +17:20:53.037 -> +17:20:57.660 -> mm: -14.5100002288 +17:20:57.660 -> pulses: -1451 +17:21:02.272 -> mm: -0.0500000000 +17:21:02.272 -> pulses: -5 +17:21:02.272 -> Steps taken: 6573 +17:21:02.272 -> +17:21:07.050 -> mm: -15.2600002288 +17:21:07.050 -> pulses: -1526 +17:21:11.839 -> mm: -0.0500000000 +17:21:11.839 -> pulses: -5 +17:21:11.839 -> Steps taken: 6840 +17:21:11.839 -> +17:21:17.784 -> mm: -19.8400001525 +17:21:17.784 -> pulses: -1986 +17:21:23.767 -> mm: -0.0500000000 +17:21:23.767 -> pulses: -5 +17:21:23.767 -> Steps taken: 8717 +17:21:23.767 -> +17:21:29.910 -> mm: -20.5499992370 +17:21:29.910 -> pulses: -2056 +17:21:36.123 -> mm: -0.0500000000 +17:21:36.123 -> pulses: -5 +17:21:36.123 -> Steps taken: 9064 +17:21:36.123 -> +17:21:42.623 -> mm: -21.9400005340 +17:21:42.623 -> pulses: -2194 +17:21:49.159 -> mm: -0.0500000000 +17:21:49.159 -> pulses: -5 +17:21:49.159 -> Steps taken: 9603 +17:21:49.159 -> +17:21:54.511 -> mm: -17.6900005340 +17:21:54.511 -> pulses: -1770 +17:21:59.898 -> mm: -0.0500000000 +17:21:59.898 -> pulses: -5 +17:21:59.898 -> Steps taken: 7793 +17:21:59.898 -> +17:22:05.182 -> mm: -17.2600002288 +17:22:05.182 -> pulses: -1726 +17:22:10.468 -> mm: -0.0500000000 +17:22:10.468 -> pulses: -5 +17:22:10.468 -> Steps taken: 7637 +17:22:10.468 -> +17:22:15.145 -> mm: -14.7399997711 +17:22:15.145 -> pulses: -1475 +17:22:19.823 -> mm: -0.0500000000 +17:22:19.823 -> pulses: -5 +17:22:19.823 -> Steps taken: 6684 +17:22:19.823 -> +17:22:26.148 -> mm: -21.4699993133 +17:22:26.148 -> pulses: -2147 +17:22:32.535 -> mm: -0.0500000000 +17:22:32.535 -> pulses: -5 +17:22:32.535 -> Steps taken: 9333 +17:22:32.535 -> +17:22:37.414 -> mm: -15.7399997711 +17:22:37.414 -> pulses: -1573 +17:22:42.296 -> mm: -0.0500000000 +17:22:42.296 -> pulses: -5 +17:22:42.296 -> Steps taken: 7003 +17:22:42.296 -> +17:22:50.250 -> mm: -27.9899997711 +17:22:50.250 -> pulses: -2799 +17:22:58.275 -> mm: -0.0500000000 +17:22:58.275 -> pulses: -5 +17:22:58.275 -> Steps taken: 11967 +17:22:58.275 -> +17:23:03.852 -> mm: -18.2500000000 +17:23:03.852 -> pulses: -1826 +17:23:09.418 -> mm: -0.0500000000 +17:23:09.418 -> pulses: -5 +17:23:09.418 -> Steps taken: 8099 +17:23:09.418 -> +17:23:14.363 -> mm: -15.8999996185 +17:23:14.363 -> pulses: -1590 +17:23:19.318 -> mm: -0.0500000000 +17:23:19.318 -> pulses: -5 +17:23:19.318 -> Steps taken: 7097 +17:23:19.318 -> +17:23:26.860 -> mm: -26.3199996948 +17:23:26.860 -> pulses: -2633 +17:23:34.481 -> mm: -0.0500000000 +17:23:34.481 -> pulses: -5 +17:23:34.481 -> Steps taken: 11321 +17:23:34.481 -> +17:23:42.138 -> mm: -26.6399993896 +17:23:42.138 -> pulses: -2666 +17:23:49.819 -> mm: -0.0500000000 +17:23:49.819 -> pulses: -5 +17:23:49.819 -> Steps taken: 11457 +17:23:49.819 -> +17:23:54.841 -> mm: -16.1800003051 +17:23:54.841 -> pulses: -1619 +17:23:59.861 -> mm: -0.0500000000 +17:23:59.861 -> pulses: -5 +17:23:59.861 -> Steps taken: 7225 +17:23:59.861 -> +17:24:04.287 -> mm: -13.8900003433 +17:24:04.287 -> pulses: -1389 +17:24:08.762 -> mm: -0.0500000000 +17:24:08.762 -> pulses: -5 +17:24:08.762 -> Steps taken: 6292 +17:24:08.762 -> +17:24:15.960 -> mm: -24.9300003051 +17:24:15.960 -> pulses: -2493 +17:24:23.216 -> mm: -0.0500000000 +17:24:23.216 -> pulses: -5 +17:24:23.216 -> Steps taken: 10757 +17:24:23.216 -> +17:24:29.273 -> mm: -20.1900005340 +17:24:29.273 -> pulses: -2019 +17:24:35.370 -> mm: -0.0500000000 +17:24:35.370 -> pulses: -5 +17:24:35.370 -> Steps taken: 8902 +17:24:35.370 -> +17:24:39.680 -> mm: -13.4399995803 +17:24:39.680 -> pulses: -1345 +17:24:44.049 -> mm: -0.0500000000 +17:24:44.049 -> pulses: -5 +17:24:44.049 -> Steps taken: 6123 +17:24:44.049 -> +17:24:48.363 -> mm: -13.3999996185 +17:24:48.363 -> pulses: -1341 +17:24:52.704 -> mm: -0.0500000000 +17:24:52.704 -> pulses: -5 +17:24:52.704 -> Steps taken: 6121 +17:24:52.704 -> +17:24:59.128 -> mm: -21.9400005340 +17:24:59.128 -> pulses: -2194 +17:25:05.605 -> mm: -0.0500000000 +17:25:05.605 -> pulses: -5 +17:25:05.605 -> Steps taken: 9502 +17:25:05.605 -> +17:25:13.459 -> mm: -27.6499996185 +17:25:13.459 -> pulses: -2766 +17:25:21.379 -> mm: -0.0500000000 +17:25:21.379 -> pulses: -5 +17:25:21.379 -> Steps taken: 11802 +17:25:21.379 -> +17:25:26.115 -> mm: -15.1599998474 +17:25:26.115 -> pulses: -1517 +17:25:30.876 -> mm: -0.0500000000 +17:25:30.876 -> pulses: -5 +17:25:30.876 -> Steps taken: 6790 +17:25:30.876 -> +17:25:38.402 -> mm: -26.0900001525 +17:25:38.402 -> pulses: -2609 +17:25:45.952 -> mm: -0.0500000000 +17:25:45.952 -> pulses: -5 +17:25:45.952 -> Steps taken: 11237 +17:25:45.952 -> +17:25:52.136 -> mm: -20.6800003051 +17:25:52.136 -> pulses: -2068 +17:25:58.327 -> mm: -0.0500000000 +17:25:58.327 -> pulses: -5 +17:25:58.327 -> Steps taken: 9094 +17:25:58.327 -> +17:26:03.959 -> mm: -18.5400009155 +17:26:03.959 -> pulses: -1854 +17:26:09.628 -> mm: -0.0500000000 +17:26:09.628 -> pulses: -5 +17:26:09.628 -> Steps taken: 8228 +17:26:09.628 -> +17:26:15.024 -> mm: -17.7299995422 +17:26:15.024 -> pulses: -1773 +17:26:20.456 -> mm: -0.0500000000 +17:26:20.456 -> pulses: -5 +17:26:20.456 -> Steps taken: 7830 +17:26:20.456 -> +17:26:27.401 -> mm: -23.9799995422 +17:26:27.401 -> pulses: -2398 +17:26:34.410 -> mm: -0.0500000000 +17:26:34.410 -> pulses: -5 +17:26:34.410 -> Steps taken: 10367 +17:26:34.410 -> +17:26:41.484 -> mm: -24.3199996948 +17:26:41.484 -> pulses: -2432 +17:26:48.626 -> mm: -0.0500000000 +17:26:48.626 -> pulses: -5 +17:26:48.626 -> Steps taken: 10535 +17:26:48.626 -> +17:26:53.606 -> mm: -16.2000007629 +17:26:53.639 -> pulses: -1621 +17:26:58.670 -> mm: -0.0500000000 +17:26:58.670 -> pulses: -5 +17:26:58.670 -> Steps taken: 7227 +17:26:58.670 -> +17:27:06.259 -> mm: -26.4899997711 +17:27:06.259 -> pulses: -2650 +17:27:13.940 -> mm: -0.0500000000 +17:27:13.940 -> pulses: -5 +17:27:13.940 -> Steps taken: 11392 +17:27:13.940 -> +17:27:19.029 -> mm: -16.4799995422 +17:27:19.029 -> pulses: -1649 +17:27:24.150 -> mm: -0.0500000000 +17:27:24.150 -> pulses: -5 +17:27:24.150 -> Steps taken: 7374 +17:27:24.150 -> +17:27:28.873 -> mm: -14.9300003051 +17:27:28.873 -> pulses: -1494 +17:27:33.586 -> mm: -0.0500000000 +17:27:33.586 -> pulses: -5 +17:27:33.586 -> Steps taken: 6733 +17:27:33.586 -> +17:27:40.221 -> mm: -22.6100006103 +17:27:40.221 -> pulses: -2261 +17:27:46.892 -> mm: -0.0500000000 +17:27:46.892 -> pulses: -5 +17:27:46.892 -> Steps taken: 9832 +17:27:46.892 -> +17:27:54.643 -> mm: -27.0300006866 +17:27:54.643 -> pulses: -2704 +17:28:02.423 -> mm: -0.0500000000 +17:28:02.423 -> pulses: -5 +17:28:02.423 -> Steps taken: 11594 +17:28:02.423 -> +17:28:09.489 -> mm: -24.3999996185 +17:28:09.489 -> pulses: -2441 +17:28:16.625 -> mm: -0.0500000000 +17:28:16.625 -> pulses: -5 +17:28:16.625 -> Steps taken: 10553 +17:28:16.625 -> +17:28:22.855 -> mm: -20.9099998474 +17:28:22.855 -> pulses: -2092 +17:28:29.090 -> mm: -0.0500000000 +17:28:29.090 -> pulses: -5 +17:28:29.090 -> Steps taken: 9162 +17:28:29.090 -> +17:28:34.981 -> mm: -19.7099990844 +17:28:34.981 -> pulses: -1971 +17:28:40.893 -> mm: -0.0500000000 +17:28:40.893 -> pulses: -5 +17:28:40.893 -> Steps taken: 8617 +17:28:40.893 -> +17:28:48.237 -> mm: -25.5300006866 +17:28:48.237 -> pulses: -2555 +17:28:55.599 -> mm: -0.0500000000 +17:28:55.599 -> pulses: -5 +17:28:55.599 -> Steps taken: 10941 +17:28:55.599 -> +17:29:01.952 -> mm: -21.7399997711 +17:29:01.952 -> pulses: -2175 +17:29:08.341 -> mm: -0.0500000000 +17:29:08.341 -> pulses: -5 +17:29:08.341 -> Steps taken: 9381 +17:29:08.341 -> +17:29:14.599 -> mm: -21.2099990844 +17:29:14.599 -> pulses: -2123 +17:29:20.880 -> mm: -0.0500000000 +17:29:20.880 -> pulses: -5 +17:29:20.880 -> Steps taken: 9214 +17:29:20.880 -> +17:29:27.161 -> mm: -21.3600006103 +17:29:27.161 -> pulses: -2136 +17:29:33.485 -> mm: -0.0500000000 +17:29:33.485 -> pulses: -5 +17:29:33.485 -> Steps taken: 9270 +17:29:33.485 -> +17:29:38.685 -> mm: -16.9599990844 +17:29:38.685 -> pulses: -1696 +17:29:43.943 -> mm: -0.0500000000 +17:29:43.943 -> pulses: -5 +17:29:43.943 -> Steps taken: 7538 +17:29:43.943 -> +17:29:48.949 -> mm: -16.2299995422 +17:29:48.949 -> pulses: -1623 +17:29:53.997 -> mm: -0.0500000000 +17:29:53.997 -> pulses: -5 +17:29:53.997 -> Steps taken: 7242 +17:29:53.997 -> +17:29:59.741 -> mm: -19.0200004577 +17:29:59.741 -> pulses: -1903 +17:30:05.504 -> mm: -0.0500000000 +17:30:05.504 -> pulses: -5 +17:30:05.504 -> Steps taken: 8382 +17:30:05.504 -> +17:30:11.922 -> mm: -21.8500003814 +17:30:11.922 -> pulses: -2186 +17:30:18.372 -> mm: -0.0500000000 +17:30:18.372 -> pulses: -5 +17:30:18.372 -> Steps taken: 9490 +17:30:18.372 -> +17:30:25.676 -> mm: -25.4300003051 +17:30:25.676 -> pulses: -2544 +17:30:33.021 -> mm: -0.0500000000 +17:30:33.021 -> pulses: -5 +17:30:33.021 -> Steps taken: 10880 +17:30:33.021 -> +17:30:38.896 -> mm: -19.7000007629 +17:30:38.896 -> pulses: -1970 +17:30:44.813 -> mm: -0.0500000000 +17:30:44.813 -> pulses: -5 +17:30:44.813 -> Steps taken: 8621 +17:30:44.813 -> +17:30:51.817 -> mm: -24.1100006103 +17:30:51.817 -> pulses: -2412 +17:30:58.847 -> mm: -0.0500000000 +17:30:58.847 -> pulses: -5 +17:30:58.847 -> Steps taken: 10414 +17:30:58.847 -> +17:31:04.441 -> mm: -18.3799991607 +17:31:04.441 -> pulses: -1838 +17:31:10.037 -> mm: -0.0500000000 +17:31:10.037 -> pulses: -5 +17:31:10.037 -> Steps taken: 8140 +17:31:10.037 -> +17:31:16.755 -> mm: -23.0300006866 +17:31:16.755 -> pulses: -2303 +17:31:23.525 -> mm: -0.0500000000 +17:31:23.525 -> pulses: -5 +17:31:23.525 -> Steps taken: 9958 +17:31:23.525 -> +17:31:28.851 -> mm: -17.5599994659 +17:31:28.851 -> pulses: -1756 +17:31:34.206 -> mm: -0.0500000000 +17:31:34.206 -> pulses: -5 +17:31:34.206 -> Steps taken: 7724 +17:31:34.206 -> +17:31:40.899 -> mm: -22.9300003051 +17:31:40.899 -> pulses: -2294 +17:31:47.631 -> mm: -0.0500000000 +17:31:47.631 -> pulses: -5 +17:31:47.631 -> Steps taken: 9927 +17:31:47.631 -> +17:31:55.365 -> mm: -27.1900005340 +17:31:55.365 -> pulses: -2721 +17:32:03.176 -> mm: -0.0500000000 +17:32:03.176 -> pulses: -5 +17:32:03.176 -> Steps taken: 11613 +17:32:03.176 -> +17:32:10.881 -> mm: -26.9500007629 +17:32:10.881 -> pulses: -2696 +17:32:18.624 -> mm: -0.0500000000 +17:32:18.624 -> pulses: -5 +17:32:18.624 -> Steps taken: 11545 +17:32:18.624 -> +17:32:25.373 -> mm: -23.2700004577 +17:32:25.373 -> pulses: -2328 +17:32:32.184 -> mm: -0.0500000000 +17:32:32.184 -> pulses: -5 +17:32:32.184 -> Steps taken: 10029 +17:32:32.184 -> +17:32:36.439 -> mm: -13.1099996566 +17:32:36.439 -> pulses: -1312 +17:32:40.715 -> mm: -0.0500000000 +17:32:40.715 -> pulses: -5 +17:32:40.715 -> Steps taken: 6015 +17:32:40.715 -> +17:32:46.625 -> mm: -19.8400001525 +17:32:46.625 -> pulses: -1984 +17:32:52.567 -> mm: -0.0500000000 +17:32:52.602 -> pulses: -5 +17:32:52.602 -> Steps taken: 8682 +17:32:52.602 -> +17:32:59.424 -> mm: -23.6299991607 +17:32:59.424 -> pulses: -2363 +17:33:06.285 -> mm: -0.0500000000 +17:33:06.285 -> pulses: -5 +17:33:06.285 -> Steps taken: 10153 +17:33:06.285 -> +17:33:13.825 -> mm: -26.2000007629 +17:33:13.825 -> pulses: -2620 +17:33:21.376 -> mm: -0.0500000000 +17:33:21.376 -> pulses: -5 +17:33:21.376 -> Steps taken: 11250 +17:33:21.376 -> +17:33:27.696 -> mm: -21.6000003814 +17:33:27.696 -> pulses: -2160 +17:33:34.008 -> mm: -0.0500000000 +17:33:34.008 -> pulses: -5 +17:33:34.008 -> Steps taken: 9301 +17:33:34.008 -> +17:33:38.766 -> mm: -15.2600002288 +17:33:38.766 -> pulses: -1527 +17:33:43.573 -> mm: -0.0500000000 +17:33:43.573 -> pulses: -5 +17:33:43.573 -> Steps taken: 6829 +17:33:43.573 -> +17:33:49.309 -> mm: -19.0799999237 +17:33:49.309 -> pulses: -1909 +17:33:55.082 -> mm: -0.0500000000 +17:33:55.082 -> pulses: -5 +17:33:55.082 -> Steps taken: 8391 +17:33:55.082 -> +17:34:00.388 -> mm: -17.4400005340 +17:34:00.388 -> pulses: -1745 +17:34:05.698 -> mm: -0.0500000000 +17:34:05.698 -> pulses: -5 +17:34:05.698 -> Steps taken: 7680 +17:34:05.698 -> +17:34:11.092 -> mm: -17.7399997711 +17:34:11.092 -> pulses: -1774 +17:34:16.482 -> mm: -0.0500000000 +17:34:16.482 -> pulses: -5 +17:34:16.482 -> Steps taken: 7819 +17:34:16.482 -> +17:34:21.339 -> mm: -15.7500000000 +17:34:21.339 -> pulses: -1575 +17:34:26.250 -> mm: -0.0500000000 +17:34:26.250 -> pulses: -5 +17:34:26.250 -> Steps taken: 6993 +17:34:26.250 -> +17:34:31.745 -> mm: -18.2000007629 +17:34:31.745 -> pulses: -1821 +17:34:37.310 -> mm: -0.0500000000 +17:34:37.310 -> pulses: -5 +17:34:37.310 -> Steps taken: 8038 +17:34:37.310 -> +17:34:43.219 -> mm: -19.7700004577 +17:34:43.219 -> pulses: -1978 +17:34:49.145 -> mm: -0.0500000000 +17:34:49.145 -> pulses: -5 +17:34:49.145 -> Steps taken: 8671 +17:34:49.145 -> +17:34:55.512 -> mm: -21.6900005340 +17:34:55.512 -> pulses: -2169 +17:35:01.927 -> mm: -0.0500000000 +17:35:01.927 -> pulses: -5 +17:35:01.927 -> Steps taken: 9395 +17:35:01.927 -> +17:35:09.637 -> mm: -27.0100002288 +17:35:09.637 -> pulses: -2702 +17:35:17.378 -> mm: -0.0500000000 +17:35:17.378 -> pulses: -5 +17:35:17.378 -> Steps taken: 11556 +17:35:17.378 -> +17:35:21.987 -> mm: -14.4700002670 +17:35:21.987 -> pulses: -1448 +17:35:26.592 -> mm: -0.0500000000 +17:35:26.592 -> pulses: -5 +17:35:26.592 -> Steps taken: 6550 +17:35:26.592 -> +17:35:34.453 -> mm: -27.7700004577 +17:35:34.488 -> pulses: -2778 +17:35:42.382 -> mm: -0.0500000000 +17:35:42.382 -> pulses: -5 +17:35:42.382 -> Steps taken: 11825 +17:35:42.382 -> +17:35:49.889 -> mm: -26.0699996948 +17:35:49.889 -> pulses: -2607 +17:35:57.425 -> mm: -0.0500000000 +17:35:57.425 -> pulses: -5 +17:35:57.425 -> Steps taken: 11214 +17:35:57.425 -> +17:36:03.982 -> mm: -22.2700004577 +17:36:03.982 -> pulses: -2228 +17:36:10.542 -> mm: -0.0500000000 +17:36:10.542 -> pulses: -5 +17:36:10.542 -> Steps taken: 9665 +17:36:10.542 -> +17:36:16.144 -> mm: -18.5699996948 +17:36:16.178 -> pulses: -1857 +17:36:21.814 -> mm: -0.0500000000 +17:36:21.814 -> pulses: -5 +17:36:21.814 -> Steps taken: 8218 +17:36:21.814 -> +17:36:29.681 -> mm: -27.6399993896 +17:36:29.681 -> pulses: -2765 +17:36:37.580 -> mm: -0.0500000000 +17:36:37.580 -> pulses: -5 +17:36:37.580 -> Steps taken: 11790 +17:36:37.580 -> +17:36:45.184 -> mm: -26.4699993133 +17:36:45.184 -> pulses: -2648 +17:36:52.830 -> mm: -0.0500000000 +17:36:52.830 -> pulses: -5 +17:36:52.830 -> Steps taken: 11381 +17:36:52.830 -> +17:36:58.810 -> mm: -19.9699993133 +17:36:58.810 -> pulses: -1998 +17:37:04.822 -> mm: -0.0500000000 +17:37:04.822 -> pulses: -5 +17:37:04.822 -> Steps taken: 8763 +17:37:04.822 -> +17:37:10.693 -> mm: -19.7099990844 +17:37:10.693 -> pulses: -1972 +17:37:16.602 -> mm: -0.0500000000 +17:37:16.602 -> pulses: -5 +17:37:16.602 -> Steps taken: 8620 +17:37:16.602 -> +17:37:24.178 -> mm: -26.3799991607 +17:37:24.178 -> pulses: -2638 +17:37:31.804 -> mm: -0.0500000000 +17:37:31.804 -> pulses: -5 +17:37:31.804 -> Steps taken: 11332 +17:37:31.804 -> +17:37:37.197 -> mm: -17.8600006103 +17:37:37.197 -> pulses: -1786 +17:37:42.656 -> mm: -0.0500000000 +17:37:42.656 -> pulses: -5 +17:37:42.656 -> Steps taken: 7864 +17:37:42.656 -> +17:37:49.377 -> mm: -23.1599998474 +17:37:49.377 -> pulses: -2317 +17:37:56.164 -> mm: -0.0500000000 +17:37:56.164 -> pulses: -5 +17:37:56.164 -> Steps taken: 9998 +17:37:56.164 -> +17:38:03.404 -> mm: -25.0799999237 +17:38:03.404 -> pulses: -2509 +17:38:10.660 -> mm: -0.0500000000 +17:38:10.660 -> pulses: -5 +17:38:10.660 -> Steps taken: 10773 +17:38:10.660 -> +17:38:17.869 -> mm: -25.0300006866 +17:38:17.869 -> pulses: -2504 +17:38:25.129 -> mm: -0.0500000000 +17:38:25.129 -> pulses: -5 +17:38:25.129 -> Steps taken: 10764 +17:38:25.129 -> +17:38:31.529 -> mm: -21.8099994659 +17:38:31.529 -> pulses: -2181 +17:38:37.955 -> mm: -0.0500000000 +17:38:37.955 -> pulses: -5 +17:38:37.955 -> Steps taken: 9435 +17:38:37.955 -> +17:38:44.606 -> mm: -22.7700004577 +17:38:44.606 -> pulses: -2278 +17:38:51.305 -> mm: -0.0500000000 +17:38:51.305 -> pulses: -5 +17:38:51.305 -> Steps taken: 9873 +17:38:51.305 -> +17:38:58.871 -> mm: -26.3700008392 +17:38:58.871 -> pulses: -2637 +17:39:06.511 -> mm: -0.0500000000 +17:39:06.511 -> pulses: -5 +17:39:06.511 -> Steps taken: 11328 +17:39:06.511 -> +17:39:12.354 -> mm: -19.5499992370 +17:39:12.354 -> pulses: -1956 +17:39:18.228 -> mm: -0.0500000000 +17:39:18.228 -> pulses: -5 +17:39:18.228 -> Steps taken: 8552 +17:39:18.228 -> +17:39:22.654 -> mm: -13.9700002670 +17:39:22.654 -> pulses: -1397 +17:39:27.090 -> mm: -0.0500000000 +17:39:27.090 -> pulses: -5 +17:39:27.090 -> Steps taken: 6297 +17:39:27.090 -> +17:39:33.149 -> mm: -20.1599998474 +17:39:33.149 -> pulses: -2017 +17:39:39.207 -> mm: -0.0500000000 +17:39:39.207 -> pulses: -5 +17:39:39.207 -> Steps taken: 8868 +17:39:39.207 -> +17:39:43.811 -> mm: -14.5000000000 +17:39:43.811 -> pulses: -1450 +17:39:48.432 -> mm: -0.0500000000 +17:39:48.432 -> pulses: -5 +17:39:48.432 -> Steps taken: 6557 +17:39:48.432 -> +17:39:55.227 -> mm: -23.4599990844 +17:39:55.227 -> pulses: -2347 +17:40:02.055 -> mm: -0.0500000000 +17:40:02.055 -> pulses: -5 +17:40:02.055 -> Steps taken: 10083 +17:40:02.055 -> +17:40:09.399 -> mm: -25.7099990844 +17:40:09.399 -> pulses: -2571 +17:40:16.804 -> mm: -0.0500000000 +17:40:16.804 -> pulses: -5 +17:40:16.804 -> Steps taken: 10994 +17:40:16.804 -> +17:40:23.395 -> mm: -22.4599990844 +17:40:23.395 -> pulses: -2246 +17:40:30.025 -> mm: -0.0500000000 +17:40:30.025 -> pulses: -5 +17:40:30.025 -> Steps taken: 9751 +17:40:30.025 -> +17:40:36.641 -> mm: -22.5300006866 +17:40:36.641 -> pulses: -2254 +17:40:43.275 -> mm: -0.0500000000 +17:40:43.275 -> pulses: -5 +17:40:43.275 -> Steps taken: 9780 +17:40:43.275 -> +17:40:50.905 -> mm: -26.5499992370 +17:40:50.905 -> pulses: -2656 +17:40:58.567 -> mm: -0.0500000000 +17:40:58.567 -> pulses: -5 +17:40:58.567 -> Steps taken: 11400 +17:40:58.567 -> +17:41:02.791 -> mm: -13.1400003433 +17:41:02.791 -> pulses: -1315 +17:41:07.086 -> mm: -0.0500000000 +17:41:07.086 -> pulses: -5 +17:41:07.086 -> Steps taken: 6011 +17:41:07.086 -> +17:41:11.430 -> mm: -13.7899999618 +17:41:11.430 -> pulses: -1379 +17:41:15.838 -> mm: -0.0500000000 +17:41:15.838 -> pulses: -5 +17:41:15.838 -> Steps taken: 6187 +17:41:15.838 -> +17:41:23.056 -> mm: -25.0400009155 +17:41:23.056 -> pulses: -2506 +17:41:30.311 -> mm: -0.0500000000 +17:41:30.311 -> pulses: -5 +17:41:30.311 -> Steps taken: 10765 +17:41:30.311 -> +17:41:36.849 -> mm: -22.2999992370 +17:41:36.849 -> pulses: -2230 +17:41:43.437 -> mm: -0.0500000000 +17:41:43.437 -> pulses: -5 +17:41:43.437 -> Steps taken: 9681 +17:41:43.437 -> +17:41:51.093 -> mm: -26.6900005340 +17:41:51.093 -> pulses: -2670 +17:41:58.783 -> mm: -0.0500000000 +17:41:58.783 -> pulses: -5 +17:41:58.783 -> Steps taken: 11449 +17:41:58.783 -> +17:42:03.562 -> mm: -15.3999996185 +17:42:03.562 -> pulses: -1541 +17:42:08.356 -> mm: -0.0500000000 +17:42:08.356 -> pulses: -5 +17:42:08.356 -> Steps taken: 6843 +17:42:08.356 -> +17:42:13.537 -> mm: -16.9500007629 +17:42:13.537 -> pulses: -1696 +17:42:18.768 -> mm: -0.0500000000 +17:42:18.768 -> pulses: -5 +17:42:18.768 -> Steps taken: 7514 +17:42:18.768 -> +17:42:23.606 -> mm: -15.6800003051 +17:42:23.606 -> pulses: -1569 +17:42:28.456 -> mm: -0.0500000000 +17:42:28.456 -> pulses: -5 +17:42:28.456 -> Steps taken: 6948 +17:42:28.456 -> +17:42:34.900 -> mm: -21.9500007629 +17:42:34.900 -> pulses: -2196 +17:42:41.358 -> mm: -0.0500000000 +17:42:41.358 -> pulses: -5 +17:42:41.358 -> Steps taken: 9506 +17:42:41.358 -> +17:42:48.537 -> mm: -24.7999992370 +17:42:48.537 -> pulses: -2481 +17:42:55.742 -> mm: -0.0500000000 +17:42:55.742 -> pulses: -5 +17:42:55.742 -> Steps taken: 10680 +17:42:55.742 -> +17:43:00.665 -> mm: -15.9799995422 +17:43:00.665 -> pulses: -1599 +17:43:05.653 -> mm: -0.0500000000 +17:43:05.653 -> pulses: -5 +17:43:05.653 -> Steps taken: 7115 +17:43:05.653 -> +17:43:11.919 -> mm: -21.3600006103 +17:43:11.919 -> pulses: -2137 +17:43:18.215 -> mm: -0.0500000000 +17:43:18.215 -> pulses: -5 +17:43:18.215 -> Steps taken: 9237 +17:43:18.215 -> +17:43:23.906 -> mm: -18.9799995422 +17:43:23.906 -> pulses: -1899 +17:43:29.656 -> mm: -0.0500000000 +17:43:29.656 -> pulses: -5 +17:43:29.656 -> Steps taken: 8335 +17:43:29.656 -> +17:43:37.540 -> mm: -27.7999992370 +17:43:37.540 -> pulses: -2780 +17:43:45.491 -> mm: -0.0500000000 +17:43:45.491 -> pulses: -5 +17:43:45.491 -> Steps taken: 11852 +17:43:45.491 -> +17:43:51.979 -> mm: -22.1599998474 +17:43:51.979 -> pulses: -2217 +17:43:58.541 -> mm: -0.0500000000 +17:43:58.541 -> pulses: -5 +17:43:58.541 -> Steps taken: 9627 +17:43:58.541 -> +17:44:04.549 -> mm: -20.0799999237 +17:44:04.549 -> pulses: -2008 +17:44:10.570 -> mm: -0.0500000000 +17:44:10.570 -> pulses: -5 +17:44:10.570 -> Steps taken: 8818 +17:44:10.570 -> +17:44:16.060 -> mm: -18.1000003814 +17:44:16.060 -> pulses: -1810 +17:44:21.590 -> mm: -0.0500000000 +17:44:21.590 -> pulses: -5 +17:44:21.590 -> Steps taken: 7990 +17:44:21.590 -> +17:44:26.227 -> mm: -14.7500000000 +17:44:26.227 -> pulses: -1476 +17:44:30.911 -> mm: -0.0500000000 +17:44:30.911 -> pulses: -5 +17:44:30.911 -> Steps taken: 6645 +17:44:30.911 -> +17:44:35.668 -> mm: -15.3699998855 +17:44:35.668 -> pulses: -1538 +17:44:40.487 -> mm: -0.0500000000 +17:44:40.487 -> pulses: -5 +17:44:40.487 -> Steps taken: 6840 +17:44:40.487 -> +17:44:45.463 -> mm: -16.1499996185 +17:44:45.463 -> pulses: -1616 +17:44:50.489 -> mm: -0.0500000000 +17:44:50.489 -> pulses: -5 +17:44:50.489 -> Steps taken: 7193 +17:44:50.489 -> +17:44:57.066 -> mm: -22.4200000762 +17:44:57.066 -> pulses: -2242 +17:45:03.688 -> mm: -0.0500000000 +17:45:03.688 -> pulses: -5 +17:45:03.688 -> Steps taken: 9741 +17:45:03.688 -> +17:45:08.275 -> mm: -14.4399995803 +17:45:08.275 -> pulses: -1445 +17:45:12.865 -> mm: -0.0500000000 +17:45:12.865 -> pulses: -5 +17:45:12.865 -> Steps taken: 6522 +17:45:12.865 -> +17:45:18.356 -> mm: -18.1399993896 +17:45:18.356 -> pulses: -1815 +17:45:23.883 -> mm: -0.0500000000 +17:45:23.883 -> pulses: -5 +17:45:23.883 -> Steps taken: 8004 +17:45:23.883 -> +17:45:30.275 -> mm: -21.7800006866 +17:45:30.275 -> pulses: -2179 +17:45:36.690 -> mm: -0.0500000000 +17:45:36.690 -> pulses: -5 +17:45:36.690 -> Steps taken: 9429 +17:45:36.690 -> +17:45:41.417 -> mm: -15.1499996185 +17:45:41.417 -> pulses: -1515 +17:45:46.155 -> mm: -0.0500000000 +17:45:46.155 -> pulses: -5 +17:45:46.155 -> Steps taken: 6770 +17:45:46.155 -> +17:45:51.645 -> mm: -18.1299991607 +17:45:51.679 -> pulses: -1814 +17:45:57.170 -> mm: -0.0500000000 +17:45:57.170 -> pulses: -5 +17:45:57.204 -> Steps taken: 8000 +17:45:57.204 -> +17:46:01.541 -> mm: -13.7399997711 +17:46:01.541 -> pulses: -1374 +17:46:05.901 -> mm: -0.0500000000 +17:46:05.935 -> pulses: -5 +17:46:05.935 -> Steps taken: 6169 +17:46:05.935 -> +17:46:13.855 -> mm: -27.9599990844 +17:46:13.855 -> pulses: -2797 +17:46:21.845 -> mm: -0.0500000000 +17:46:21.845 -> pulses: -5 +17:46:21.845 -> Steps taken: 11939 +17:46:21.845 -> +17:46:28.126 -> mm: -21.2700004577 +17:46:28.126 -> pulses: -2127 +17:46:34.388 -> mm: -0.0500000000 +17:46:34.422 -> pulses: -5 +17:46:34.422 -> Steps taken: 9218 +17:46:34.422 -> +17:46:41.183 -> mm: -23.3799991607 +17:46:41.183 -> pulses: -2339 +17:46:47.980 -> mm: -0.0500000000 +17:46:47.980 -> pulses: -5 +17:46:47.980 -> Steps taken: 10043 +17:46:47.980 -> +17:46:53.648 -> mm: -18.7700004577 +17:46:53.648 -> pulses: -1877 +17:46:59.351 -> mm: -0.0500000000 +17:46:59.351 -> pulses: -5 +17:46:59.351 -> Steps taken: 8273 +17:46:59.351 -> +17:47:06.541 -> mm: -24.9400005340 +17:47:06.541 -> pulses: -2494 +17:47:13.778 -> mm: -0.0500000000 +17:47:13.778 -> pulses: -5 +17:47:13.778 -> Steps taken: 10735 +17:47:13.778 -> +17:47:19.003 -> mm: -17.0200004577 +17:47:19.003 -> pulses: -1702 +17:47:24.215 -> mm: -0.0500000000 +17:47:24.215 -> pulses: -5 +17:47:24.215 -> Steps taken: 7548 +17:47:24.215 -> +17:47:29.311 -> mm: -16.3899993896 +17:47:29.311 -> pulses: -1640 +17:47:34.391 -> mm: -0.0500000000 +17:47:34.391 -> pulses: -5 +17:47:34.391 -> Steps taken: 7314 +17:47:34.391 -> +17:47:40.837 -> mm: -21.9599990844 +17:47:40.837 -> pulses: -2196 +17:47:47.317 -> mm: -0.0500000000 +17:47:47.317 -> pulses: -5 +17:47:47.317 -> Steps taken: 9518 +17:47:47.317 -> +17:47:51.685 -> mm: -13.7700004577 +17:47:51.685 -> pulses: -1377 +17:47:56.088 -> mm: -0.0500000000 +17:47:56.088 -> pulses: -5 +17:47:56.088 -> Steps taken: 6193 +17:47:56.088 -> +17:48:02.959 -> mm: -23.7700004577 +17:48:02.959 -> pulses: -2378 +17:48:09.896 -> mm: -0.0500000000 +17:48:09.896 -> pulses: -5 +17:48:09.896 -> Steps taken: 10248 +17:48:09.896 -> +17:48:17.618 -> mm: -27.0300006866 +17:48:17.618 -> pulses: -2704 +17:48:25.371 -> mm: -0.0500000000 +17:48:25.371 -> pulses: -5 +17:48:25.371 -> Steps taken: 11553 +17:48:25.371 -> +17:48:29.985 -> mm: -14.6599998474 +17:48:29.985 -> pulses: -1467 +17:48:34.650 -> mm: -0.0500000000 +17:48:34.650 -> pulses: -5 +17:48:34.650 -> Steps taken: 6609 +17:48:34.650 -> +17:48:39.298 -> mm: -14.7500000000 +17:48:39.298 -> pulses: -1476 +17:48:43.972 -> mm: -0.0500000000 +17:48:43.972 -> pulses: -5 +17:48:43.972 -> Steps taken: 6642 +17:48:43.972 -> +17:48:49.265 -> mm: -17.5200004577 +17:48:49.265 -> pulses: -1752 +17:48:54.609 -> mm: -0.0500000000 +17:48:54.609 -> pulses: -5 +17:48:54.609 -> Steps taken: 7691 +17:48:54.609 -> +17:48:59.810 -> mm: -17.0799999237 +17:48:59.810 -> pulses: -1709 +17:49:05.063 -> mm: -0.0500000000 +17:49:05.063 -> pulses: -5 +17:49:05.063 -> Steps taken: 7555 +17:49:05.063 -> +17:49:11.258 -> mm: -21.0599994659 +17:49:11.292 -> pulses: -2107 +17:49:17.543 -> mm: -0.0500000000 +17:49:17.543 -> pulses: -5 +17:49:17.543 -> Steps taken: 9155 +17:49:17.543 -> +17:49:24.259 -> mm: -23.1499996185 +17:49:24.259 -> pulses: -2316 +17:49:31.015 -> mm: -0.0500000000 +17:49:31.015 -> pulses: -5 +17:49:31.015 -> Steps taken: 9981 +17:49:31.015 -> +17:49:36.157 -> mm: -16.6900005340 +17:49:36.157 -> pulses: -1669 +17:49:41.320 -> mm: -0.0500000000 +17:49:41.320 -> pulses: -5 +17:49:41.320 -> Steps taken: 7425 +17:49:41.320 -> +17:49:47.159 -> mm: -19.5599994659 +17:49:47.159 -> pulses: -1956 +17:49:53.015 -> mm: -0.0500000000 +17:49:53.015 -> pulses: -5 +17:49:53.015 -> Steps taken: 8547 +17:49:53.015 -> +17:50:00.263 -> mm: -25.1599998474 +17:50:00.263 -> pulses: -2516 +17:50:07.532 -> mm: -0.0500000000 +17:50:07.532 -> pulses: -5 +17:50:07.532 -> Steps taken: 10790 +17:50:07.532 -> +17:50:13.330 -> mm: -19.4599990844 +17:50:13.330 -> pulses: -1947 +17:50:19.171 -> mm: -0.0500000000 +17:50:19.171 -> pulses: -5 +17:50:19.171 -> Steps taken: 8498 +17:50:19.171 -> +17:50:24.904 -> mm: -19.1000003814 +17:50:24.904 -> pulses: -1910 +17:50:30.652 -> mm: -0.0500000000 +17:50:30.652 -> pulses: -5 +17:50:30.652 -> Steps taken: 8378 +17:50:30.652 -> +17:50:35.368 -> mm: -15.0500001907 +17:50:35.368 -> pulses: -1505 +17:50:40.122 -> mm: -0.0500000000 +17:50:40.122 -> pulses: -5 +17:50:40.122 -> Steps taken: 6734 +17:50:40.122 -> +17:50:45.032 -> mm: -15.8999996185 +17:50:45.032 -> pulses: -1590 +17:50:49.956 -> mm: -0.0500000000 +17:50:49.956 -> pulses: -5 +17:50:49.956 -> Steps taken: 7070 +17:50:49.956 -> +17:50:57.553 -> mm: -26.5200004577 +17:50:57.553 -> pulses: -2653 +17:51:05.218 -> mm: -0.0500000000 +17:51:05.218 -> pulses: -5 +17:51:05.218 -> Steps taken: 11389 +17:51:05.218 -> +17:51:13.014 -> mm: -27.4300003051 +17:51:13.014 -> pulses: -2743 +17:51:20.842 -> mm: -0.0500000000 +17:51:20.842 -> pulses: -5 +17:51:20.842 -> Steps taken: 11695 +17:51:20.842 -> +17:51:27.709 -> mm: -23.7099990844 +17:51:27.743 -> pulses: -2371 +17:51:34.627 -> mm: -0.0500000000 +17:51:34.627 -> pulses: -5 +17:51:34.627 -> Steps taken: 10208 +17:51:34.627 -> +17:51:39.592 -> mm: -16.0000000000 +17:51:39.592 -> pulses: -1601 +17:51:44.570 -> mm: -0.0500000000 +17:51:44.570 -> pulses: -5 +17:51:44.570 -> Steps taken: 7127 +17:51:44.570 -> +17:51:50.415 -> mm: -19.5599994659 +17:51:50.415 -> pulses: -1957 +17:51:56.280 -> mm: -0.0500000000 +17:51:56.280 -> pulses: -5 +17:51:56.280 -> Steps taken: 8549 +17:51:56.280 -> +17:52:01.444 -> mm: -16.8400001525 +17:52:01.444 -> pulses: -1685 +17:52:06.629 -> mm: -0.0500000000 +17:52:06.629 -> pulses: -5 +17:52:06.629 -> Steps taken: 7486 +17:52:06.629 -> +17:52:12.400 -> mm: -19.3099994659 +17:52:12.400 -> pulses: -1931 +17:52:18.207 -> mm: -0.0500000000 +17:52:18.207 -> pulses: -5 +17:52:18.207 -> Steps taken: 8448 +17:52:18.207 -> +17:52:24.080 -> mm: -19.6599998474 +17:52:24.080 -> pulses: -1966 +17:52:29.998 -> mm: -0.0500000000 +17:52:29.998 -> pulses: -5 +17:52:29.998 -> Steps taken: 8602 +17:52:29.998 -> +17:52:34.728 -> mm: -15.1400003433 +17:52:34.728 -> pulses: -1515 +17:52:39.483 -> mm: -0.0500000000 +17:52:39.483 -> pulses: -5 +17:52:39.483 -> Steps taken: 6777 +17:52:39.483 -> +17:52:44.532 -> mm: -16.3999996185 +17:52:44.532 -> pulses: -1641 +17:52:49.632 -> mm: -0.0500000000 +17:52:49.632 -> pulses: -5 +17:52:49.632 -> Steps taken: 7321 +17:52:49.632 -> +17:52:56.570 -> mm: -23.8799991607 +17:52:56.570 -> pulses: -2388 +17:53:03.534 -> mm: -0.0500000000 +17:53:03.534 -> pulses: -5 +17:53:03.534 -> Steps taken: 10305 +17:53:03.534 -> +17:53:08.513 -> mm: -16.0900001525 +17:53:08.513 -> pulses: -1610 +17:53:13.528 -> mm: -0.0500000000 +17:53:13.528 -> pulses: -5 +17:53:13.528 -> Steps taken: 7166 +17:53:13.528 -> +17:53:17.803 -> mm: -13.3400001525 +17:53:17.803 -> pulses: -1336 +17:53:22.102 -> mm: -0.0500000000 +17:53:22.102 -> pulses: -5 +17:53:22.102 -> Steps taken: 6037 +17:53:22.102 -> +17:53:29.587 -> mm: -26.1599998474 +17:53:29.587 -> pulses: -2617 +17:53:37.157 -> mm: -0.0500000000 +17:53:37.157 -> pulses: -5 +17:53:37.157 -> Steps taken: 11237 +17:53:37.157 -> +17:53:44.278 -> mm: -24.6200008392 +17:53:44.278 -> pulses: -2462 +17:53:51.482 -> mm: -0.0500000000 +17:53:51.482 -> pulses: -5 +17:53:51.482 -> Steps taken: 10629 +17:53:51.482 -> +17:53:57.175 -> mm: -19.0400009155 +17:53:57.175 -> pulses: -1905 +17:54:02.956 -> mm: -0.0500000000 +17:54:02.956 -> pulses: -5 +17:54:02.956 -> Steps taken: 8363 +17:54:02.956 -> +17:54:10.543 -> mm: -26.5300006866 +17:54:10.543 -> pulses: -2654 +17:54:18.219 -> mm: -0.0500000000 +17:54:18.219 -> pulses: -5 +17:54:18.219 -> Steps taken: 11403 +17:54:18.219 -> +17:54:22.746 -> mm: -14.2399997711 +17:54:22.746 -> pulses: -1425 +17:54:27.293 -> mm: -0.0500000000 +17:54:27.293 -> pulses: -5 +17:54:27.293 -> Steps taken: 6443 +17:54:27.293 -> +17:54:32.388 -> mm: -16.5100002288 +17:54:32.388 -> pulses: -1652 +17:54:37.511 -> mm: -0.0500000000 +17:54:37.511 -> pulses: -5 +17:54:37.511 -> Steps taken: 7368 +17:54:37.511 -> +17:54:41.926 -> mm: -13.9200000762 +17:54:41.926 -> pulses: -1392 +17:54:46.370 -> mm: -0.0500000000 +17:54:46.370 -> pulses: -5 +17:54:46.370 -> Steps taken: 6284 +17:54:46.370 -> +17:54:52.515 -> mm: -20.6000003814 +17:54:52.515 -> pulses: -2061 +17:54:58.668 -> mm: -0.0500000000 +17:54:58.668 -> pulses: -5 +17:54:58.668 -> Steps taken: 9012 +17:54:58.668 -> +17:55:04.099 -> mm: -17.8799991607 +17:55:04.099 -> pulses: -1789 +17:55:09.545 -> mm: -0.0500000000 +17:55:09.545 -> pulses: -5 +17:55:09.545 -> Steps taken: 7892 +17:55:09.545 -> +17:55:16.399 -> mm: -23.6000003814 +17:55:16.399 -> pulses: -2360 +17:55:23.264 -> mm: -0.0500000000 +17:55:23.264 -> pulses: -5 +17:55:23.264 -> Steps taken: 10148 +17:55:23.264 -> +17:55:30.717 -> mm: -25.9500007629 +17:55:30.717 -> pulses: -2596 +17:55:38.212 -> mm: -0.0500000000 +17:55:38.212 -> pulses: -5 +17:55:38.212 -> Steps taken: 11127 +17:55:38.212 -> +17:55:44.671 -> mm: -22.0100002288 +17:55:44.671 -> pulses: -2202 +17:55:51.163 -> mm: -0.0500000000 +17:55:51.163 -> pulses: -5 +17:55:51.163 -> Steps taken: 9553 +17:55:51.163 -> +17:55:56.999 -> mm: -19.6100006103 +17:55:57.034 -> pulses: -1962 +17:56:02.903 -> mm: -0.0500000000 +17:56:02.903 -> pulses: -5 +17:56:02.903 -> Steps taken: 8575 +17:56:02.903 -> +17:56:07.864 -> mm: -16.0900001525 +17:56:07.864 -> pulses: -1610 +17:56:12.891 -> mm: -0.0500000000 +17:56:12.891 -> pulses: -5 +17:56:12.891 -> Steps taken: 7174 +17:56:12.891 -> +17:56:19.787 -> mm: -23.7999992370 +17:56:19.787 -> pulses: -2380 +17:56:26.737 -> mm: -0.0500000000 +17:56:26.737 -> pulses: -5 +17:56:26.737 -> Steps taken: 10262 +17:56:26.737 -> +17:56:34.339 -> mm: -26.3999996185 +17:56:34.339 -> pulses: -2640 +17:56:41.946 -> mm: -0.0500000000 +17:56:41.946 -> pulses: -5 +17:56:41.946 -> Steps taken: 11353 +17:56:41.946 -> +17:56:47.269 -> mm: -17.5400009155 +17:56:47.269 -> pulses: -1754 +17:56:52.607 -> mm: -0.0500000000 +17:56:52.607 -> pulses: -5 +17:56:52.607 -> Steps taken: 7708 +17:56:52.607 -> +17:56:59.278 -> mm: -22.7800006866 +17:56:59.278 -> pulses: -2278 +17:57:05.975 -> mm: -0.0500000000 +17:57:05.975 -> pulses: -5 +17:57:05.975 -> Steps taken: 9878 +17:57:05.975 -> +17:57:13.086 -> mm: -24.5599994659 +17:57:13.086 -> pulses: -2456 +17:57:20.269 -> mm: -0.0500000000 +17:57:20.269 -> pulses: -5 +17:57:20.269 -> Steps taken: 10611 +17:57:20.269 -> +17:57:25.014 -> mm: -15.2700004577 +17:57:25.014 -> pulses: -1527 +17:57:29.800 -> mm: -0.0500000000 +17:57:29.800 -> pulses: -5 +17:57:29.800 -> Steps taken: 6816 +17:57:29.800 -> +17:57:35.127 -> mm: -17.5799999237 +17:57:35.127 -> pulses: -1758 +17:57:40.477 -> mm: -0.0500000000 +17:57:40.477 -> pulses: -5 +17:57:40.477 -> Steps taken: 7736 +17:57:40.477 -> +17:57:45.423 -> mm: -16.0000000000 +17:57:45.457 -> pulses: -1601 +17:57:50.418 -> mm: -0.0500000000 +17:57:50.418 -> pulses: -5 +17:57:50.418 -> Steps taken: 7127 +17:57:50.418 -> +17:57:56.293 -> mm: -19.6299991607 +17:57:56.293 -> pulses: -1964 +17:58:02.177 -> mm: -0.0500000000 +17:58:02.177 -> pulses: -5 +17:58:02.177 -> Steps taken: 8583 +17:58:02.177 -> +17:58:07.470 -> mm: -17.5499992370 +17:58:07.470 -> pulses: -1755 +17:58:12.818 -> mm: -0.0500000000 +17:58:12.818 -> pulses: -5 +17:58:12.818 -> Steps taken: 7715 +17:58:12.818 -> +17:58:20.055 -> mm: -25.0000000000 +17:58:20.055 -> pulses: -2501 +17:58:27.302 -> mm: -0.0500000000 +17:58:27.302 -> pulses: -5 +17:58:27.302 -> Steps taken: 10760 +17:58:27.302 -> +17:58:34.433 -> mm: -24.6200008392 +17:58:34.433 -> pulses: -2463 +17:58:41.601 -> mm: -0.0500000000 +17:58:41.635 -> pulses: -5 +17:58:41.635 -> Steps taken: 10632 +17:58:41.635 -> +17:58:45.977 -> mm: -13.7700004577 +17:58:45.977 -> pulses: -1378 +17:58:50.390 -> mm: -0.0500000000 +17:58:50.390 -> pulses: -5 +17:58:50.390 -> Steps taken: 6191 +17:58:50.390 -> +17:58:55.872 -> mm: -18.1700000762 +17:58:55.872 -> pulses: -1817 +17:59:01.426 -> mm: -0.0500000000 +17:59:01.426 -> pulses: -5 +17:59:01.426 -> Steps taken: 8034 +17:59:01.426 -> +17:59:07.307 -> mm: -19.6399993896 +17:59:07.307 -> pulses: -1964 +17:59:13.179 -> mm: -0.0500000000 +17:59:13.179 -> pulses: -5 +17:59:13.179 -> Steps taken: 8583 +17:59:13.179 -> +17:59:19.055 -> mm: -19.6299991607 +17:59:19.055 -> pulses: -1964 +17:59:24.918 -> mm: -0.0500000000 +17:59:24.918 -> pulses: -5 +17:59:24.918 -> Steps taken: 8584 +17:59:24.918 -> +17:59:29.709 -> mm: -15.4600000381 +17:59:29.709 -> pulses: -1547 +17:59:34.522 -> mm: -0.0500000000 +17:59:34.522 -> pulses: -5 +17:59:34.522 -> Steps taken: 6865 +17:59:34.522 -> +17:59:40.565 -> mm: -20.1800003051 +17:59:40.565 -> pulses: -2018 +17:59:46.655 -> mm: -0.0500000000 +17:59:46.655 -> pulses: -5 +17:59:46.655 -> Steps taken: 8871 +17:59:46.655 -> +17:59:52.952 -> mm: -21.4799995422 +17:59:52.952 -> pulses: -2149 +17:59:59.298 -> mm: -0.0500000000 +17:59:59.298 -> pulses: -5 +17:59:59.298 -> Steps taken: 9301 +17:59:59.298 -> +18:00:06.889 -> mm: -26.3999996185 +18:00:06.889 -> pulses: -2640 +18:00:14.507 -> mm: -0.0500000000 +18:00:14.507 -> pulses: -5 +18:00:14.507 -> Steps taken: 11360 +18:00:14.507 -> +18:00:19.498 -> mm: -16.1399993896 +18:00:19.498 -> pulses: -1614 +18:00:24.518 -> mm: -0.0500000000 +18:00:24.518 -> pulses: -5 +18:00:24.518 -> Steps taken: 7201 +18:00:24.518 -> +18:00:32.056 -> mm: -26.1700000762 +18:00:32.056 -> pulses: -2618 +18:00:39.617 -> mm: -0.0500000000 +18:00:39.617 -> pulses: -5 +18:00:39.617 -> Steps taken: 11249 +18:00:39.617 -> +18:00:45.695 -> mm: -20.3600006103 +18:00:45.730 -> pulses: -2037 +18:00:51.851 -> mm: -0.0500000000 +18:00:51.851 -> pulses: -5 +18:00:51.851 -> Steps taken: 8961 +18:00:51.851 -> +18:00:59.158 -> mm: -25.5100002288 +18:00:59.158 -> pulses: -2552 +18:01:06.525 -> mm: -0.0500000000 +18:01:06.525 -> pulses: -5 +18:01:06.525 -> Steps taken: 10921 +18:01:06.525 -> +18:01:11.956 -> mm: -18.0100002288 +18:01:11.956 -> pulses: -1801 +18:01:17.459 -> mm: -0.0500000000 +18:01:17.459 -> pulses: -5 +18:01:17.459 -> Steps taken: 7949 +18:01:17.459 -> +18:01:25.139 -> mm: -26.7500000000 +18:01:25.139 -> pulses: -2676 +18:01:32.831 -> mm: -0.0500000000 +18:01:32.831 -> pulses: -5 +18:01:32.831 -> Steps taken: 11480 +18:01:32.831 -> +18:01:39.418 -> mm: -22.3799991607 +18:01:39.418 -> pulses: -2239 +18:01:46.010 -> mm: -0.0500000000 +18:01:46.010 -> pulses: -5 +18:01:46.010 -> Steps taken: 9735 +18:01:46.010 -> +18:01:53.977 -> mm: -27.9699993133 +18:01:53.977 -> pulses: -2797 +18:02:01.996 -> mm: -0.0500000000 +18:02:01.996 -> pulses: -5 +18:02:01.996 -> Steps taken: 11961 +18:02:01.996 -> +18:02:06.567 -> mm: -14.4700002670 +18:02:06.567 -> pulses: -1447 +18:02:11.177 -> mm: -0.0500000000 +18:02:11.211 -> pulses: -5 +18:02:11.211 -> Steps taken: 6549 +18:02:11.211 -> +18:02:18.614 -> mm: -25.8700008392 +18:02:18.614 -> pulses: -2587 +18:02:26.098 -> mm: -0.0500000000 +18:02:26.098 -> pulses: -5 +18:02:26.098 -> Steps taken: 11110 +18:02:26.098 -> +18:02:31.125 -> mm: -16.2199993133 +18:02:31.125 -> pulses: -1622 +18:02:36.172 -> mm: -0.0500000000 +18:02:36.172 -> pulses: -5 +18:02:36.172 -> Steps taken: 7241 +18:02:36.172 -> +18:02:40.423 -> mm: -13.0799999237 +18:02:40.423 -> pulses: -1309 +18:02:44.689 -> mm: -0.0500000000 +18:02:44.689 -> pulses: -5 +18:02:44.689 -> Steps taken: 6003 +18:02:44.689 -> +18:02:50.749 -> mm: -20.2900009155 +18:02:50.749 -> pulses: -2029 +18:02:56.860 -> mm: -0.0500000000 +18:02:56.860 -> pulses: -5 +18:02:56.860 -> Steps taken: 8930 +18:02:56.860 -> +18:03:04.232 -> mm: -25.7199993133 +18:03:04.232 -> pulses: -2572 +18:03:11.692 -> mm: -0.0500000000 +18:03:11.692 -> pulses: -5 +18:03:11.692 -> Steps taken: 11038 +18:03:11.692 -> +18:03:18.938 -> mm: -25.3099994659 +18:03:18.973 -> pulses: -2532 +18:03:26.262 -> mm: -0.0500000000 +18:03:26.262 -> pulses: -5 +18:03:26.262 -> Steps taken: 10857 +18:03:26.262 -> +18:03:32.475 -> mm: -20.7900009155 +18:03:32.475 -> pulses: -2080 +18:03:38.693 -> mm: -0.0500000000 +18:03:38.693 -> pulses: -5 +18:03:38.693 -> Steps taken: 9119 +18:03:38.693 -> +18:03:44.253 -> mm: -18.3400001525 +18:03:44.253 -> pulses: -1834 +18:03:49.846 -> mm: -0.0500000000 +18:03:49.846 -> pulses: -5 +18:03:49.846 -> Steps taken: 8125 +18:03:49.846 -> +18:03:56.340 -> mm: -21.8799991607 +18:03:56.340 -> pulses: -2188 +18:04:02.871 -> mm: -0.0500000000 +18:04:02.871 -> pulses: -5 +18:04:02.871 -> Steps taken: 9584 +18:04:02.871 -> +18:04:10.445 -> mm: -26.3600006103 +18:04:10.445 -> pulses: -2637 +18:04:18.090 -> mm: -0.0500000000 +18:04:18.090 -> pulses: -5 +18:04:18.090 -> Steps taken: 11355 +18:04:18.090 -> +18:04:22.553 -> mm: -14.0299997329 +18:04:22.553 -> pulses: -1403 +18:04:27.010 -> mm: -0.0500000000 +18:04:27.043 -> pulses: -5 +18:04:27.043 -> Steps taken: 6339 +18:04:27.043 -> +18:04:31.529 -> mm: -14.1800003051 +18:04:31.529 -> pulses: -1419 +18:04:36.063 -> mm: -0.0500000000 +18:04:36.063 -> pulses: -5 +18:04:36.063 -> Steps taken: 6429 +18:04:36.063 -> +18:04:42.398 -> mm: -21.6100006103 +18:04:42.398 -> pulses: -2162 +18:04:48.790 -> mm: -0.0500000000 +18:04:48.790 -> pulses: -5 +18:04:48.790 -> Steps taken: 9344 +18:04:48.790 -> +18:04:53.404 -> mm: -14.5600004196 +18:04:53.404 -> pulses: -1457 +18:04:58.018 -> mm: -0.0500000000 +18:04:58.018 -> pulses: -5 +18:04:58.018 -> Steps taken: 6594 +18:04:58.018 -> +18:05:04.601 -> mm: -22.3199996948 +18:05:04.601 -> pulses: -2232 +18:05:11.210 -> mm: -0.0500000000 +18:05:11.210 -> pulses: -5 +18:05:11.210 -> Steps taken: 9720 +18:05:11.210 -> +18:05:16.091 -> mm: -15.7399997711 +18:05:16.091 -> pulses: -1574 +18:05:20.979 -> mm: -0.0500000000 +18:05:20.979 -> pulses: -5 +18:05:20.979 -> Steps taken: 7000 +18:05:20.979 -> +18:05:25.585 -> mm: -14.5000000000 +18:05:25.585 -> pulses: -1451 +18:05:30.218 -> mm: -0.0500000000 +18:05:30.218 -> pulses: -5 +18:05:30.218 -> Steps taken: 6569 +18:05:30.218 -> +18:05:34.520 -> mm: -13.5699996948 +18:05:34.520 -> pulses: -1358 +18:05:38.844 -> mm: -0.0500000000 +18:05:38.844 -> pulses: -5 +18:05:38.844 -> Steps taken: 6102 +18:05:38.844 -> +18:05:44.899 -> mm: -20.2700004577 +18:05:44.899 -> pulses: -2027 +18:05:51.019 -> mm: -0.0500000000 +18:05:51.019 -> pulses: -5 +18:05:51.019 -> Steps taken: 8922 +18:05:51.019 -> +18:05:55.667 -> mm: -14.7200002670 +18:05:55.667 -> pulses: -1473 +18:06:00.320 -> mm: -0.0500000000 +18:06:00.320 -> pulses: -5 +18:06:00.320 -> Steps taken: 6649 +18:06:00.320 -> +18:06:07.948 -> mm: -26.5599994659 +18:06:07.948 -> pulses: -2656 +18:06:15.639 -> mm: -0.0500000000 +18:06:15.639 -> pulses: -5 +18:06:15.639 -> Steps taken: 11423 +18:06:15.639 -> +18:06:21.717 -> mm: -20.3700008392 +18:06:21.717 -> pulses: -2037 +18:06:27.870 -> mm: -0.0500000000 +18:06:27.870 -> pulses: -5 +18:06:27.870 -> Steps taken: 8978 +18:06:27.870 -> +18:06:34.457 -> mm: -22.3700008392 +18:06:34.457 -> pulses: -2238 +18:06:41.057 -> mm: -0.0500000000 +18:06:41.057 -> pulses: -5 +18:06:41.057 -> Steps taken: 9742 +18:06:41.057 -> +18:06:47.363 -> mm: -21.3700008392 +18:06:47.363 -> pulses: -2137 +18:06:53.684 -> mm: -0.0500000000 +18:06:53.684 -> pulses: -5 +18:06:53.684 -> Steps taken: 9266 +18:06:53.684 -> +18:06:58.772 -> mm: -16.5300006866 +18:06:58.772 -> pulses: -1654 +18:07:03.943 -> mm: -0.0500000000 +18:07:03.943 -> pulses: -5 +18:07:03.943 -> Steps taken: 7391 +18:07:03.943 -> +18:07:10.246 -> mm: -21.4400005340 +18:07:10.246 -> pulses: -2144 +18:07:16.556 -> mm: -0.0500000000 +18:07:16.556 -> pulses: -5 +18:07:16.556 -> Steps taken: 9275 +18:07:16.556 -> +18:07:23.594 -> mm: -24.2399997711 +18:07:23.594 -> pulses: -2424 +18:07:30.678 -> mm: -0.0500000000 +18:07:30.678 -> pulses: -5 +18:07:30.678 -> Steps taken: 10499 +18:07:30.678 -> +18:07:38.127 -> mm: -25.8299999237 +18:07:38.127 -> pulses: -2584 +18:07:45.576 -> mm: -0.0500000000 +18:07:45.576 -> pulses: -5 +18:07:45.576 -> Steps taken: 11094 +18:07:45.576 -> +18:07:53.431 -> mm: -27.5200004577 +18:07:53.431 -> pulses: -2753 +18:08:01.287 -> mm: -0.0500000000 +18:08:01.287 -> pulses: -5 +18:08:01.287 -> Steps taken: 11740 +18:08:01.287 -> +18:08:05.791 -> mm: -14.0900001525 +18:08:05.791 -> pulses: -1409 +18:08:10.265 -> mm: -0.0500000000 +18:08:10.300 -> pulses: -5 +18:08:10.300 -> Steps taken: 6379 +18:08:10.300 -> +18:08:15.558 -> mm: -17.3199996948 +18:08:15.558 -> pulses: -1732 +18:08:20.860 -> mm: -0.0500000000 +18:08:20.860 -> pulses: -5 +18:08:20.860 -> Steps taken: 7647 +18:08:20.860 -> +18:08:26.004 -> mm: -16.7500000000 +18:08:26.004 -> pulses: -1676 +18:08:31.205 -> mm: -0.0500000000 +18:08:31.205 -> pulses: -5 +18:08:31.205 -> Steps taken: 7473 +18:08:31.205 -> +18:08:38.833 -> mm: -26.4699993133 +18:08:38.833 -> pulses: -2647 +18:08:46.477 -> mm: -0.0500000000 +18:08:46.477 -> pulses: -5 +18:08:46.477 -> Steps taken: 11403 +18:08:46.477 -> +18:08:54.441 -> mm: -27.8600006103 +18:08:54.441 -> pulses: -2787 +18:09:02.437 -> mm: -0.0500000000 +18:09:02.437 -> pulses: -5 +18:09:02.437 -> Steps taken: 11928 +18:09:02.437 -> +18:09:09.071 -> mm: -22.5599994659 +18:09:09.071 -> pulses: -2257 +18:09:15.713 -> mm: -0.0500000000 +18:09:15.713 -> pulses: -5 +18:09:15.713 -> Steps taken: 9823 +18:09:15.713 -> +18:09:21.935 -> mm: -20.8899993896 +18:09:21.935 -> pulses: -2090 +18:09:28.147 -> mm: -0.0500000000 +18:09:28.147 -> pulses: -5 +18:09:28.147 -> Steps taken: 9128 +18:09:28.147 -> +18:09:34.253 -> mm: -20.3400001525 +18:09:34.253 -> pulses: -2035 +18:09:40.380 -> mm: -0.0500000000 +18:09:40.380 -> pulses: -5 +18:09:40.380 -> Steps taken: 8968 +18:09:40.380 -> +18:09:45.651 -> mm: -17.1299991607 +18:09:45.651 -> pulses: -1714 +18:09:50.920 -> mm: -0.0500000000 +18:09:50.920 -> pulses: -5 +18:09:50.920 -> Steps taken: 7598 +18:09:50.920 -> +18:09:55.697 -> mm: -15.4600000381 +18:09:55.697 -> pulses: -1547 +18:10:00.525 -> mm: -0.0500000000 +18:10:00.525 -> pulses: -5 +18:10:00.525 -> Steps taken: 6891 +18:10:00.525 -> +18:10:08.470 -> mm: -27.8299999237 +18:10:08.470 -> pulses: -2784 +18:10:16.471 -> mm: -0.0500000000 +18:10:16.471 -> pulses: -5 +18:10:16.471 -> Steps taken: 11916 +18:10:16.471 -> +18:10:21.937 -> mm: -17.9699993133 +18:10:21.937 -> pulses: -1797 +18:10:27.410 -> mm: -0.0500000000 +18:10:27.410 -> pulses: -5 +18:10:27.410 -> Steps taken: 7944 +18:10:27.410 -> +18:10:33.690 -> mm: -21.2199993133 +18:10:33.690 -> pulses: -2122 +18:10:39.963 -> mm: -0.0500000000 +18:10:39.963 -> pulses: -5 +18:10:39.963 -> Steps taken: 9225 +18:10:39.963 -> +18:10:47.019 -> mm: -24.1700000762 +18:10:47.019 -> pulses: -2417 +18:10:54.092 -> mm: -0.0500000000 +18:10:54.092 -> pulses: -5 +18:10:54.092 -> Steps taken: 10477 +18:10:54.092 -> +18:10:59.699 -> mm: -18.5000000000 +18:10:59.699 -> pulses: -1850 +18:11:05.362 -> mm: -0.0500000000 +18:11:05.362 -> pulses: -5 +18:11:05.362 -> Steps taken: 8216 +18:11:05.362 -> +18:11:13.292 -> mm: -27.7800006866 +18:11:13.292 -> pulses: -2778 +18:11:21.249 -> mm: -0.0500000000 +18:11:21.249 -> pulses: -5 +18:11:21.249 -> Steps taken: 11886 +18:11:21.249 -> +18:11:25.825 -> mm: -14.3599996566 +18:11:25.825 -> pulses: -1436 +18:11:30.435 -> mm: -0.0500000000 +18:11:30.435 -> pulses: -5 +18:11:30.435 -> Steps taken: 6522 +18:11:30.435 -> +18:11:37.481 -> mm: -24.2999992370 +18:11:37.516 -> pulses: -2430 +18:11:44.607 -> mm: -0.0500000000 +18:11:44.607 -> pulses: -5 +18:11:44.607 -> Steps taken: 10536 +18:11:44.607 -> +18:11:52.144 -> mm: -26.1299991607 +18:11:52.144 -> pulses: -2613 +18:11:59.725 -> mm: -0.0500000000 +18:11:59.725 -> pulses: -5 +18:11:59.725 -> Steps taken: 11259 +18:11:59.725 -> +18:12:07.070 -> mm: -25.6299991607 +18:12:07.070 -> pulses: -2564 +18:12:14.492 -> mm: -0.0500000000 +18:12:14.492 -> pulses: -5 +18:12:14.492 -> Steps taken: 11003 +18:12:14.492 -> +18:12:21.633 -> mm: -24.6800003051 +18:12:21.666 -> pulses: -2469 +18:12:28.845 -> mm: -0.0500000000 +18:12:28.845 -> pulses: -5 +18:12:28.845 -> Steps taken: 10678 +18:12:28.845 -> +18:12:34.950 -> mm: -20.2900009155 +18:12:34.950 -> pulses: -2030 +18:12:41.073 -> mm: -0.0500000000 +18:12:41.073 -> pulses: -5 +18:12:41.073 -> Steps taken: 8956 +18:12:41.073 -> +18:12:47.782 -> mm: -22.8999996185 +18:12:47.782 -> pulses: -2291 +18:12:54.507 -> mm: -0.0500000000 +18:12:54.507 -> pulses: -5 +18:12:54.507 -> Steps taken: 9937 +18:12:54.507 -> +18:13:00.483 -> mm: -19.9500007629 +18:13:00.483 -> pulses: -1995 +18:13:06.510 -> mm: -0.0500000000 +18:13:06.510 -> pulses: -5 +18:13:06.510 -> Steps taken: 8778 +18:13:06.510 -> +18:13:11.930 -> mm: -17.8099994659 +18:13:11.930 -> pulses: -1782 +18:13:17.362 -> mm: -0.0500000000 +18:13:17.362 -> pulses: -5 +18:13:17.362 -> Steps taken: 7878 +18:13:17.362 -> +18:13:22.753 -> mm: -17.7199993133 +18:13:22.753 -> pulses: -1772 +18:13:28.185 -> mm: -0.0500000000 +18:13:28.185 -> pulses: -5 +18:13:28.185 -> Steps taken: 7834 +18:13:28.185 -> +18:13:32.779 -> mm: -14.4799995422 +18:13:32.779 -> pulses: -1448 +18:13:37.399 -> mm: -0.0500000000 +18:13:37.399 -> pulses: -5 +18:13:37.399 -> Steps taken: 6577 +18:13:37.399 -> +18:13:42.620 -> mm: -16.9500007629 +18:13:42.620 -> pulses: -1696 +18:13:47.875 -> mm: -0.0500000000 +18:13:47.875 -> pulses: -5 +18:13:47.875 -> Steps taken: 7554 +18:13:47.875 -> +18:13:53.674 -> mm: -19.4899997711 +18:13:53.674 -> pulses: -1949 +18:13:59.553 -> mm: -0.0500000000 +18:13:59.553 -> pulses: -5 +18:13:59.553 -> Steps taken: 8540 +18:13:59.553 -> +18:14:05.213 -> mm: -18.6200008392 +18:14:05.213 -> pulses: -1863 +18:14:10.883 -> mm: -0.0500000000 +18:14:10.883 -> pulses: -5 +18:14:10.883 -> Steps taken: 8253 +18:14:10.883 -> +18:14:16.857 -> mm: -19.9200000762 +18:14:16.857 -> pulses: -1993 +18:14:22.855 -> mm: -0.0500000000 +18:14:22.855 -> pulses: -5 +18:14:22.855 -> Steps taken: 8766 +18:14:22.855 -> +18:14:28.565 -> mm: -18.7999992370 +18:14:28.565 -> pulses: -1880 +18:14:34.265 -> mm: -0.0500000000 +18:14:34.265 -> pulses: -5 +18:14:34.265 -> Steps taken: 8313 +18:14:34.265 -> +18:14:39.693 -> mm: -17.8099994659 +18:14:39.693 -> pulses: -1782 +18:14:45.119 -> mm: -0.0500000000 +18:14:45.119 -> pulses: -5 +18:14:45.119 -> Steps taken: 7877 +18:14:45.119 -> +18:14:51.249 -> mm: -20.3600006103 +18:14:51.249 -> pulses: -2037 +18:14:57.395 -> mm: -0.0500000000 +18:14:57.395 -> pulses: -5 +18:14:57.395 -> Steps taken: 8986 +18:14:57.395 -> +18:15:04.119 -> mm: -23.0000000000 +18:15:04.119 -> pulses: -2301 +18:15:10.868 -> mm: -0.0500000000 +18:15:10.868 -> pulses: -5 +18:15:10.868 -> Steps taken: 9972 +18:15:10.868 -> +18:15:16.398 -> mm: -18.1299991607 +18:15:16.398 -> pulses: -1813 +18:15:21.931 -> mm: -0.0500000000 +18:15:21.931 -> pulses: -5 +18:15:21.931 -> Steps taken: 8040 +18:15:21.931 -> +18:15:29.111 -> mm: -24.8099994659 +18:15:29.144 -> pulses: -2482 +18:15:36.377 -> mm: -0.0500000000 +18:15:36.377 -> pulses: -5 +18:15:36.377 -> Steps taken: 10725 +18:15:36.377 -> +18:15:42.887 -> mm: -22.1299991607 +18:15:42.887 -> pulses: -2214 +18:15:49.438 -> mm: -0.0500000000 +18:15:49.438 -> pulses: -5 +18:15:49.438 -> Steps taken: 9658 +18:15:49.438 -> +18:15:55.539 -> mm: -20.2999992370 +18:15:55.539 -> pulses: -2031 +18:16:01.687 -> mm: -0.0500000000 +18:16:01.687 -> pulses: -5 +18:16:01.687 -> Steps taken: 8966 +18:16:01.687 -> +18:16:09.196 -> mm: -26.0200004577 +18:16:09.196 -> pulses: -2603 +18:16:16.733 -> mm: -0.0500000000 +18:16:16.733 -> pulses: -5 +18:16:16.733 -> Steps taken: 11220 +18:16:16.733 -> +18:16:22.441 -> mm: -18.7700004577 +18:16:22.441 -> pulses: -1878 +18:16:28.158 -> mm: -0.0500000000 +18:16:28.158 -> pulses: -5 +18:16:28.158 -> Steps taken: 8307 +18:16:28.158 -> +18:16:33.490 -> mm: -17.5499992370 +18:16:33.490 -> pulses: -1756 +18:16:38.851 -> mm: -0.0500000000 +18:16:38.851 -> pulses: -5 +18:16:38.851 -> Steps taken: 7757 +18:16:38.851 -> +18:16:43.283 -> mm: -13.8699998855 +18:16:43.283 -> pulses: -1388 +18:16:47.735 -> mm: -0.0500000000 +18:16:47.735 -> pulses: -5 +18:16:47.735 -> Steps taken: 6292 +18:16:47.735 -> +18:16:52.741 -> mm: -16.1000003814 +18:16:52.741 -> pulses: -1611 +18:16:57.763 -> mm: -0.0500000000 +18:16:57.763 -> pulses: -5 +18:16:57.763 -> Steps taken: 7218 +18:16:57.763 -> +18:17:03.046 -> mm: -17.1800003051 +18:17:03.046 -> pulses: -1719 +18:17:08.306 -> mm: -0.0500000000 +18:17:08.306 -> pulses: -5 +18:17:08.306 -> Steps taken: 7626 +18:17:08.306 -> +18:17:13.045 -> mm: -15.0600004196 +18:17:13.045 -> pulses: -1506 +18:17:17.799 -> mm: -0.0500000000 +18:17:17.799 -> pulses: -5 +18:17:17.799 -> Steps taken: 6783 +18:17:17.799 -> +18:17:23.370 -> mm: -18.2700004577 +18:17:23.370 -> pulses: -1828 +18:17:28.971 -> mm: -0.0500000000 +18:17:28.971 -> pulses: -5 +18:17:28.971 -> Steps taken: 8111 +18:17:28.971 -> +18:17:34.634 -> mm: -18.6000003814 +18:17:34.634 -> pulses: -1861 +18:17:40.302 -> mm: -0.0500000000 +18:17:40.302 -> pulses: -5 +18:17:40.302 -> Steps taken: 8252 +18:17:40.302 -> +18:17:47.645 -> mm: -25.5000000000 +18:17:47.645 -> pulses: -2550 +18:17:55.026 -> mm: -0.0500000000 +18:17:55.026 -> pulses: -5 +18:17:55.026 -> Steps taken: 10944 +18:17:55.026 -> +18:18:01.553 -> mm: -22.2299995422 +18:18:01.553 -> pulses: -2224 +18:18:08.149 -> mm: -0.0500000000 +18:18:08.149 -> pulses: -5 +18:18:08.149 -> Steps taken: 9700 +18:18:08.149 -> +18:18:12.874 -> mm: -15.0399999618 +18:18:12.874 -> pulses: -1505 +18:18:17.628 -> mm: -0.0500000000 +18:18:17.628 -> pulses: -5 +18:18:17.628 -> Steps taken: 6775 +18:18:17.628 -> +18:18:25.036 -> mm: -25.7099990844 +18:18:25.036 -> pulses: -2572 +18:18:32.491 -> mm: -0.0500000000 +18:18:32.491 -> pulses: -5 +18:18:32.491 -> Steps taken: 11066 +18:18:32.491 -> +18:18:38.954 -> mm: -21.9599990844 +18:18:38.954 -> pulses: -2196 +18:18:45.479 -> mm: -0.0500000000 +18:18:45.479 -> pulses: -5 +18:18:45.479 -> Steps taken: 9570 +18:18:45.479 -> +18:18:52.590 -> mm: -24.3999996185 +18:18:52.590 -> pulses: -2440 +18:18:59.719 -> mm: -0.0500000000 +18:18:59.719 -> pulses: -5 +18:18:59.719 -> Steps taken: 10593 +18:18:59.719 -> +18:19:05.696 -> mm: -19.8400001525 +18:19:05.696 -> pulses: -1984 +18:19:11.677 -> mm: -0.0500000000 +18:19:11.677 -> pulses: -5 +18:19:11.677 -> Steps taken: 8739 +18:19:11.677 -> +18:19:17.135 -> mm: -17.9099998474 +18:19:17.135 -> pulses: -1792 +18:19:22.634 -> mm: -0.0500000000 +18:19:22.634 -> pulses: -5 +18:19:22.634 -> Steps taken: 7950 +18:19:22.634 -> +18:19:27.201 -> mm: -14.2700004577 +18:19:27.201 -> pulses: -1427 +18:19:31.781 -> mm: -0.0500000000 +18:19:31.781 -> pulses: -5 +18:19:31.781 -> Steps taken: 6501 +18:19:31.781 -> +18:19:36.997 -> mm: -16.8999996185 +18:19:36.997 -> pulses: -1691 +18:19:42.229 -> mm: -0.0500000000 +18:19:42.229 -> pulses: -5 +18:19:42.229 -> Steps taken: 7549 +18:19:42.229 -> +18:19:46.986 -> mm: -15.0799999237 +18:19:46.986 -> pulses: -1508 +18:19:51.740 -> mm: -0.0500000000 +18:19:51.740 -> pulses: -5 +18:19:51.740 -> Steps taken: 6789 +18:19:51.740 -> +18:19:56.731 -> mm: -16.0799999237 +18:19:56.731 -> pulses: -1608 +18:20:01.760 -> mm: -0.0500000000 +18:20:01.760 -> pulses: -5 +18:20:01.760 -> Steps taken: 7213 +18:20:01.760 -> +18:20:06.683 -> mm: -15.7799997329 +18:20:06.683 -> pulses: -1579 +18:20:11.623 -> mm: -0.0500000000 +18:20:11.623 -> pulses: -5 +18:20:11.623 -> Steps taken: 7070 +18:20:11.623 -> +18:20:16.127 -> mm: -14.1300001144 +18:20:16.127 -> pulses: -1414 +18:20:20.671 -> mm: -0.0500000000 +18:20:20.671 -> pulses: -5 +18:20:20.671 -> Steps taken: 6424 +18:20:20.671 -> +18:20:25.692 -> mm: -16.2199993133 +18:20:25.692 -> pulses: -1622 +18:20:30.781 -> mm: -0.0500000000 +18:20:30.781 -> pulses: -5 +18:20:30.781 -> Steps taken: 7285 +18:20:30.781 -> +18:20:36.032 -> mm: -17.2099990844 +18:20:36.066 -> pulses: -1722 +18:20:41.343 -> mm: -0.0500000000 +18:20:41.343 -> pulses: -5 +18:20:41.343 -> Steps taken: 7643 +18:20:41.343 -> +18:20:48.338 -> mm: -23.9899997711 +18:20:48.338 -> pulses: -2400 +18:20:55.368 -> mm: -0.0500000000 +18:20:55.368 -> pulses: -5 +18:20:55.368 -> Steps taken: 10401 +18:20:55.368 -> +18:21:01.684 -> mm: -21.4599990844 +18:21:01.684 -> pulses: -2147 +18:21:08.048 -> mm: -0.0500000000 +18:21:08.048 -> pulses: -5 +18:21:08.048 -> Steps taken: 9323 +18:21:08.048 -> +18:21:12.950 -> mm: -15.7200002670 +18:21:12.950 -> pulses: -1572 +18:21:17.837 -> mm: -0.0500000000 +18:21:17.837 -> pulses: -5 +18:21:17.837 -> Steps taken: 7031 +18:21:17.837 -> +18:21:23.364 -> mm: -18.0599994659 +18:21:23.364 -> pulses: -1807 +18:21:28.873 -> mm: -0.0500000000 +18:21:28.873 -> pulses: -5 +18:21:28.873 -> Steps taken: 8017 +18:21:28.873 -> +18:21:35.489 -> mm: -22.4300003051 +18:21:35.489 -> pulses: -2243 +18:21:42.146 -> mm: -0.0500000000 +18:21:42.146 -> pulses: -5 +18:21:42.146 -> Steps taken: 9793 +18:21:42.146 -> +18:21:48.120 -> mm: -19.9099998474 +18:21:48.120 -> pulses: -1992 +18:21:54.153 -> mm: -0.0500000000 +18:21:54.153 -> pulses: -5 +18:21:54.153 -> Steps taken: 8776 +18:21:54.153 -> +18:21:59.695 -> mm: -18.2800006866 +18:21:59.695 -> pulses: -1829 +18:22:05.294 -> mm: -0.0500000000 +18:22:05.294 -> pulses: -5 +18:22:05.294 -> Steps taken: 8122 +18:22:05.294 -> +18:22:10.812 -> mm: -18.0599994659 +18:22:10.812 -> pulses: -1806 +18:22:16.334 -> mm: -0.0500000000 +18:22:16.334 -> pulses: -5 +18:22:16.334 -> Steps taken: 8015 +18:22:16.334 -> +18:22:24.059 -> mm: -26.8199996948 +18:22:24.059 -> pulses: -2682 +18:22:31.777 -> mm: -0.0500000000 +18:22:31.777 -> pulses: -5 +18:22:31.777 -> Steps taken: 11540 +18:22:31.777 -> +18:22:38.093 -> mm: -21.4599990844 +18:22:38.093 -> pulses: -2147 +18:22:44.475 -> mm: -0.0500000000 +18:22:44.475 -> pulses: -5 +18:22:44.475 -> Steps taken: 9337 +18:22:44.475 -> +18:22:50.727 -> mm: -21.0100002288 +18:22:50.727 -> pulses: -2102 +18:22:56.984 -> mm: -0.0500000000 +18:22:56.984 -> pulses: -5 +18:22:56.984 -> Steps taken: 9190 +18:22:56.984 -> +18:23:04.500 -> mm: -26.0499992370 +18:23:04.500 -> pulses: -2605 +18:23:12.090 -> mm: -0.0500000000 +18:23:12.090 -> pulses: -5 +18:23:12.090 -> Steps taken: 11249 +18:23:12.090 -> +18:23:16.633 -> mm: -14.2899999618 +18:23:16.633 -> pulses: -1429 +18:23:21.208 -> mm: -0.0500000000 +18:23:21.208 -> pulses: -5 +18:23:21.208 -> Steps taken: 6506 +18:23:21.208 -> +18:23:27.765 -> mm: -22.1800003051 +18:23:27.765 -> pulses: -2218 +18:23:34.367 -> mm: -0.0500000000 +18:23:34.367 -> pulses: -5 +18:23:34.367 -> Steps taken: 9684 +18:23:34.367 -> +18:23:39.025 -> mm: -14.6800003051 +18:23:39.025 -> pulses: -1468 +18:23:43.695 -> mm: -0.0500000000 +18:23:43.695 -> pulses: -5 +18:23:43.695 -> Steps taken: 6662 +18:23:43.695 -> +18:23:48.212 -> mm: -14.0699996948 +18:23:48.212 -> pulses: -1408 +18:23:52.722 -> mm: -0.0500000000 +18:23:52.722 -> pulses: -5 +18:23:52.722 -> Steps taken: 6400 +18:23:52.722 -> +18:23:57.325 -> mm: -14.5100002288 +18:23:57.325 -> pulses: -1452 +18:24:01.981 -> mm: -0.0500000000 +18:24:01.981 -> pulses: -5 +18:24:01.981 -> Steps taken: 6605 +18:24:01.981 -> +18:24:07.831 -> mm: -19.4500007629 +18:24:07.831 -> pulses: -1946 +18:24:13.665 -> mm: -0.0500000000 +18:24:13.665 -> pulses: -5 +18:24:13.665 -> Steps taken: 8540 +18:24:13.665 -> +18:24:18.895 -> mm: -16.9899997711 +18:24:18.895 -> pulses: -1699 +18:24:24.146 -> mm: -0.0500000000 +18:24:24.146 -> pulses: -5 +18:24:24.146 -> Steps taken: 7571 +18:24:24.146 -> +18:24:30.242 -> mm: -20.3099994659 +18:24:30.242 -> pulses: -2033 +18:24:36.386 -> mm: -0.0500000000 +18:24:36.386 -> pulses: -5 +18:24:36.386 -> Steps taken: 8971 +18:24:36.386 -> +18:24:43.597 -> mm: -24.7999992370 +18:24:43.597 -> pulses: -2480 +18:24:50.838 -> mm: -0.0500000000 +18:24:50.838 -> pulses: -5 +18:24:50.838 -> Steps taken: 10734 +18:24:50.838 -> +18:24:55.961 -> mm: -16.5200004577 +18:24:55.961 -> pulses: -1652 +18:25:01.115 -> mm: -0.0500000000 +18:25:01.115 -> pulses: -5 +18:25:01.115 -> Steps taken: 7416 +18:25:01.115 -> +18:25:08.074 -> mm: -23.8600006103 +18:25:08.074 -> pulses: -2387 +18:25:15.059 -> mm: -0.0500000000 +18:25:15.059 -> pulses: -5 +18:25:15.059 -> Steps taken: 10362 +18:25:15.059 -> diff --git a/Code/Arduino Code/Test/glassScaleTest/glassScaleTest.ino b/Code/Arduino Code/Test/glassScaleTest/glassScaleTest.ino new file mode 100644 index 0000000..eec4f9b --- /dev/null +++ b/Code/Arduino Code/Test/glassScaleTest/glassScaleTest.ino @@ -0,0 +1,115 @@ +#include +#include +#include + +const uint8_t amisDirPin = 2; +const uint8_t amisStepPin = 3; +const uint8_t amisSlaveSelect = SS; + +AMIS30543 stepper; +int a = 1000; +int b = 1000; + +int toTake, taken; + +Encoder slidePos(0, 1); +volatile byte first = 0; + + +void setup() +{ + SPI.begin(); + stepper.init(amisSlaveSelect); + // Drive the NXT/STEP and DIR pins low initially. + digitalWrite(amisStepPin, LOW); + pinMode(amisStepPin, OUTPUT); + digitalWrite(amisDirPin, LOW); + pinMode(amisDirPin, OUTPUT); + + // Give the driver some time to power up. + delay(1); + taken = 0; + // Reset the driver to its default settings. + stepper.resetSettings(); + + // Set the current limit. You should change the number here to + // an appropriate value for your particular system. + stepper.setCurrentMilliamps(a); + + // Set the number of microsteps that correspond to one full step. + stepper.setStepMode(4); + + // Enable the motor outputs. + stepper.enableDriver(); + Serial.begin(9600); + + stepper.sleep(); + while(!Serial){} + slidePos.write(0); +} + +void loop() +{ + // Step in the default direction 1000 times. + stepper.sleepStop(); + setDirection(1); + toTake = random(6000, 12000); + for (unsigned int x = 0; x < toTake; x++) + { + step(); + } + output(); + delay(500); + // Step in the other direction 1000 times. + setDirection(0); + while(abs(slidePos.read()) > 5) + { + step(); + taken++; + } + output(); + Serial.print("Steps taken: "); + Serial.println(taken, DEC); + Serial.println(); + taken = 0; + stepper.sleep(); + delay(500); +} + +// Sends a pulse on the NXT/STEP pin to tell the driver to take +// one step, and also delays to control the speed of the motor. +void step() +{ + // The NXT/STEP minimum high pulse width is 2 microseconds. + digitalWrite(amisStepPin, HIGH); + delayMicroseconds(3); + digitalWrite(amisStepPin, LOW); + delayMicroseconds(3); + + // The delay here controls the stepper motor's speed. You can + // increase the delay to make the stepper motor go slower. If + // you decrease the delay, the stepper motor will go fast, but + // there is a limit to how fast it can go before it starts + // missing steps. + delayMicroseconds(600); +} + +// Writes a high or low value to the direction pin to specify +// what direction to turn the motor. +void setDirection(bool dir) +{ + // The NXT/STEP pin must not change for at least 0.5 + // microseconds before and after changing the DIR pin. + delayMicroseconds(1); + digitalWrite(amisDirPin, dir); + delayMicroseconds(1); +} + + +void output(){ + Serial.print("mm: "); + Serial.print((float)slidePos.read()/100.0, DEC); + Serial.print("\npulses: "); + Serial.print(slidePos.read(), DEC); + Serial.print("\n"); +}