No. Not directly.
The issue I was attempting to solve was poor connection between BC and the pogo pins so a mount would don’t verify via the verify_tool() code. I think I have solved that with a rearrangement of screws and magnets. It was when investigation that and creating a mount / dismount 100 times soak test script that the other issue of X drift on the remote X motor came up. What I do not understand is why the motor sometimes (1 in 8) stops driving with any force early, or fails to start driving in the next cycle. I think it is a failed motor. The finger pressure test on the close motor shows strong drive at all times where on the remote X motor it is only about 85 % of the time and the other times, I can stop the motor with finger pressure indicating a drive failure. I suspect motor issues over software but I cannot be sure without change the motor first.
With regards to the code that drive the remote motor but does not use the encoder, do you know where that code is located within the repository. I would love to look at the code as a self correcting error is better than not. I still need to replace the motor and see if that fixes the issue but my focus is reliability is my focus.
In this post here
You will see my software wrapper around head mounting. It has a built in routine that physically puts the head back and attempts to reload it 5 times before calling failure. In my soak test I got up to 70 first attempt successes until the X drift issue came into the equation. Ironically the retry part of my code was not needed, once I addressed the magnet arrangement within the UTM with 70 first time detections. Still. I like ‘safe’ code so you can trust a result.