Robot will start a homing procedure upon moving into the START_UP phase #35
Description
The robot will perform a Homing procedure which enables it to find the position of each motor using the limit switches on the sides of the base. The homing will perform a predefined procedure in which all motors at the base will initially move to the right side of the base until the right sliders hit their respective limits. Then all sliders are driven to the left side until the left sliders hit their respective limits.
The robot will then move to its predefined home position.
Finally, the robot will perform another motion to test the fidelity of the encoder reading it will move all sliders to the right until they hit their limits and compare the observed total encoder counts for the right sliders to the expected count. It will do the same for the left sliders. If the counts are within an expected range, the robot will send a status OK to the Slicer and will be ready to be transitioned into another state.
Add perform homing procedure button to the Startup phase, to give the use the ability to perform the homing procedure or bypass it.