Take your positions!

Working on positioning the turrets started today - and I'm pretty satisfied. I get a positional precision within +/- 10 steps, which isn't even visible.

And I found out something really great: the turrets have the index-hall-sensors aligned such that positioning the turret in the middle of the index gap means that they are aligned properly for driving straight. In other words: no calibration needs! Great!

Bad news is though that turret number 4 fails to work with positioning and index-bits. Currently I have no idea why that is the case, hopefully nothing serious.

And I found that the mechanical parameters of the different turrets differ greatly - what makes good values for the PID-controller for my primary turret 0 makes not necessarily sense for the others. But that's a question of configuration, I hopefully can overcome that.

All in all, nice progress today!