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v1 STAR heads: move_to_xy_position follow-ups - #1491
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- `mix` rises to its traverse height at the drive's default, not at its descent speed - with tips on, an unreachable traverse height is refused as the tip-bottom height the caller gave Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
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The Problem
Two regressions from #1490, found by comparing the wire of the same simulated 96-head run on
mainbefore and after it:mixraised the head to safe Z at its descent speed (zv16000, 80 mm/s) instead of the drive's default (zv17000), and sent an extraH0AAafterwards to restore the drive's speed. A descent speed governed an ascent.minimum_traverse_height_startwas refused in stop-disc terms (z must be between 180.5 and 336.0, is 1051.9) instead of the tip-bottom height the caller gave (the tool bottom reaches 128.6 to 284.1 mm with a 51.9 mm overhang, not 1000.0).PR Content/Solution
mixno longer passes its descent speed tomove_to_xy_positionmove_to_xy_positionstill decides by the stop disc; with tips on, the raise is amove_tool_bottom_to_z_position, whose check reports the height the caller gave🤖 Generated with Claude Code