[17:15:13] ======================================================= [17:15:13] SLOW-SWEEP starting [17:15:13] step cmd : 0x15 (6.9°/step) [17:15:13] direction : cw [17:15:13] steps/rev : 52.2 [17:15:13] interval : 28.8s/step [17:15:13] speed : 25.0 min/rev [17:15:13] target : 0.06 rev (3 steps) [17:15:13] ======================================================= [17:15:15] MIC calibrated: ambient=248.0 threshold=322.4 [17:15:15] Home encoder: -19788 [17:15:16] Direction set to cw (beep=1) [17:15:17] Starting sweep — Ctrl+C to stop [17:15:17] [17:15:20] step= 1 moved=16.1° total=16° (0.04rev) pos=-16.1° beep=1 move=0.8s wait=25.2s [17:15:49] step= 2 moved=88.5° total=105° (0.29rev) pos=-104.5° beep=1 move=1.1s wait=24.9s [17:16:18] step= 3 moved=89.7° total=194° (0.54rev) pos=-194.2° beep=1 move=1.4s wait=24.6s [17:16:18] Target reached: 0.06 rev in 3 steps [17:17:26] ======================================================= [17:17:26] SLOW-SWEEP starting [17:17:26] step cmd : 0x15 (6.9°/step) [17:17:26] direction : ccw [17:17:26] steps/rev : 52.2 [17:17:26] interval : 28.8s/step [17:17:26] speed : 25.0 min/rev [17:17:26] target : 0.06 rev (3 steps) [17:17:26] ======================================================= [17:17:29] MIC calibrated: ambient=249.1 threshold=323.9 [17:17:29] Home encoder: -22394 [17:17:30] Direction set to ccw (beep=1) [17:17:30] Starting sweep — Ctrl+C to stop [17:17:30] [17:17:35] step= 1 moved=28.6° total=29° (0.08rev) pos=+28.6° beep=1 move=1.4s wait=24.5s [17:18:04] step= 2 moved=90.9° total=120° (0.33rev) pos=+119.5° beep=1 move=1.7s wait=24.2s [17:18:32] step= 3 moved=91.0° total=211° (0.58rev) pos=+210.6° beep=1 move=1.0s wait=25.0s [17:18:32] Target reached: 0.06 rev in 3 steps [17:25:47] ======================================================= [17:25:47] SLOW-SWEEP starting [17:25:47] step cmd : 0x40 (6.0°/step) [17:25:47] direction : ccw [17:25:47] steps/rev : 60.0 [17:25:47] interval : 25.0s/step [17:25:47] speed : 25.0 min/rev [17:25:47] target : 0.08 rev (4 steps) [17:25:47] ======================================================= [17:25:50] MIC calibrated: ambient=248.4 threshold=322.9 [17:25:50] Home encoder: -16153 [17:25:50] Ramping to max speed (25x speedup)... [17:25:57] Direction set to ccw (beep=1) [17:25:57] Warm-up step (discarded)... [17:26:03] Home reset after warm-up: -15854 [17:26:03] Starting sweep — Ctrl+C to stop [17:26:03] [17:26:09] step= 1 moved=35.2° total=35° (0.10rev) pos=+44.7° beep=1 move=2.0s wait=19.0s [17:26:34] step= 2 moved=147.0° total=182° (0.51rev) pos=+191.7° beep=1 move=3.3s wait=19.0s [17:26:58] step= 3 moved=136.8° total=319° (0.89rev) pos=+328.5° beep=0 move=0.8s wait=19.9s [17:27:24] step= 4 moved=161.1° total=480° (1.33rev) pos=+489.6° beep=1 move=3.2s wait=18.9s [17:27:24] Target reached: 0.08 rev in 4 steps [17:29:17] ======================================================= [17:29:17] SLOW-SWEEP (closed-loop encoder control) [17:29:17] direction : ccw [17:29:17] step size : 6.0° (40 counts) [17:29:17] overshoot comp : 6 counts [17:29:17] steps/rev : 60.0 [17:29:17] interval : 25.0s/step [17:29:17] speed target : 25.0 min/rev [17:29:17] target : 0.08 rev (4 steps) [17:29:17] ======================================================= [17:29:20] MIC calibrated: ambient=248.5 threshold=323.1 [17:29:20] Home encoder: -8292 [17:29:20] Setting min speed (25x slowdown)... [17:29:24] Direction set to ccw (beep=0) [17:29:24] Starting sweep — Ctrl+C to stop [17:29:24] step moved overshoot total pos [17:29:49] 1 44.2° +38.2° 44° (0.12rev) +75.3° [17:30:14] 2 5.8° -0.2° 50° (0.14rev) +125.5° [17:30:39] 3 5.8° -0.2° 56° (0.16rev) +131.4° [17:31:04] 4 5.7° -0.3° 62° (0.17rev) +137.1° [17:31:04] Target reached: 0.08 rev in 4 steps [17:31:19] ======================================================= [17:31:19] SLOW-SWEEP (closed-loop encoder control) [17:31:19] direction : ccw [17:31:19] step size : 6.0° (40 counts) [17:31:19] overshoot comp : 6 counts [17:31:19] steps/rev : 60.0 [17:31:19] interval : 25.0s/step [17:31:19] speed target : 25.0 min/rev [17:31:19] target : 0.08 rev (4 steps) [17:31:19] ======================================================= [17:31:22] MIC calibrated: ambient=248.1 threshold=322.6 [17:31:22] Home encoder: -7378 [17:31:22] Setting min speed (25x slowdown)... [17:31:26] Direction set to ccw (beep=0) [17:31:26] Starting sweep — Ctrl+C to stop [17:31:26] step moved overshoot total pos [17:31:51] 1 5.5° -0.5° 6° (0.02rev) +5.5° [17:32:16] 2 5.5° -0.5° 11° (0.03rev) +11.1° [17:51:17] ======================================================= [17:51:17] SLOW-SWEEP (closed-loop encoder control) [17:51:17] direction : ccw [17:51:17] step size : 6.0° (40 counts) [17:51:17] overshoot comp : 6 counts [17:51:17] steps/rev : 60.0 [17:51:17] interval : 25.0s/step [17:51:17] speed target : 25.0 min/rev [17:51:17] ======================================================= [17:51:20] MIC calibrated: ambient=248.0 threshold=322.4 [17:51:20] Home encoder: -7304 [17:51:20] Setting min speed (25x slowdown)... [17:51:24] Direction set to ccw (beep=0) [17:51:24] Starting sweep — Ctrl+C to stop [17:51:24] step moved overshoot total pos [17:51:49] 1 5.5° -0.5° 6° (0.02rev) +5.5° [17:52:14] 2 5.7° -0.3° 11° (0.03rev) +11.2° [17:52:39] 3 6.8° +0.8° 18° (0.05rev) +18.0° [17:53:04] 4 5.5° -0.5° 24° (0.07rev) +23.7° [17:53:29] 5 5.5° -0.5° 29° (0.08rev) +29.2° [17:53:54] 6 5.7° -0.3° 35° (0.10rev) +34.9° [17:54:19] 7 5.5° -0.5° 40° (0.11rev) +40.5° [17:54:44] 8 5.5° -0.5° 46° (0.13rev) +46.0° [17:55:09] 9 5.7° -0.3° 52° (0.14rev) +51.8° [17:55:34] 10 5.5° -0.5° 57° (0.16rev) +57.3° [17:55:59] 11 49.9° +43.9° 107° (0.30rev) +107.2° [17:56:24] 12 5.5° -0.5° 113° (0.31rev) +191.5° [17:56:49] 13 5.5° -0.5° 118° (0.33rev) +197.1° [17:57:14] 14 5.5° -0.5° 124° (0.34rev) +202.7° [17:57:39] 15 5.5° -0.5° 129° (0.36rev) +208.2° [17:58:04] 16 5.5° -0.5° 135° (0.37rev) +213.8° [17:58:29] 17 5.5° -0.5° 140° (0.39rev) +219.3° [17:58:54] 18 5.5° -0.5° 146° (0.41rev) +224.8° [17:59:19] 19 5.5° -0.5° 152° (0.42rev) +230.4° [17:59:44] 20 5.5° -0.5° 157° (0.44rev) +235.9° [18:00:09] 21 5.5° -0.5° 163° (0.45rev) +241.5° [18:00:34] 22 5.5° -0.5° 168° (0.47rev) +247.0° [18:00:59] 23 5.5° -0.5° 174° (0.48rev) +252.6° [18:01:24] 24 48.4° +42.4° 222° (0.62rev) +301.1° [18:01:49] 25 5.5° -0.5° 228° (0.63rev) +387.0° [18:02:14] 26 5.5° -0.5° 233° (0.65rev) +392.7° [18:02:39] 27 50.2° +44.2° 284° (0.79rev) +442.9° [18:03:04] 28 5.5° -0.5° 289° (0.80rev) +523.0° [18:03:29] 29 5.4° -0.6° 294° (0.82rev) +528.4° [18:03:54] 30 5.5° -0.5° 300° (0.83rev) +534.0° [18:04:19] 31 5.5° -0.5° 306° (0.85rev) +539.5° [18:04:44] 32 5.5° -0.5° 311° (0.86rev) +545.1° [18:05:09] 33 5.5° -0.5° 317° (0.88rev) +550.6° [18:05:34] 34 5.5° -0.5° 322° (0.90rev) +556.2° [18:05:59] 35 7.3° +1.3° 330° (0.92rev) +563.5° [18:06:24] 36 6.0° +0.0° 336° (0.93rev) +569.7° [18:06:49] 37 6.1° +0.1° 342° (0.95rev) +575.9° [18:07:14] 38 6.1° +0.1° 348° (0.97rev) +582.0° [18:07:39] 39 6.0° +0.0° 354° (0.98rev) +588.0° [18:08:04] 40 6.0° +0.0° 360° (1.00rev) +594.0° [18:08:29] 41 6.0° +0.0° 366° (1.02rev) +600.0° [18:08:54] 42 6.0° +0.0° 372° (1.03rev) +606.0° [18:09:19] 43 6.1° +0.1° 378° (1.05rev) +612.1° [18:09:44] 44 6.1° +0.1° 384° (1.07rev) +618.3° [18:10:09] 45 6.0° +0.0° 390° (1.08rev) +624.3° [18:10:34] 46 5.7° -0.3° 396° (1.10rev) +630.0° [18:10:59] 47 6.1° +0.1° 402° (1.12rev) +636.1° [18:11:24] 48 6.3° +0.3° 408° (1.13rev) +642.4° [18:11:49] 49 5.8° -0.2° 414° (1.15rev) +648.3° [18:12:14] 50 5.7° -0.3° 420° (1.17rev) +654.0° [18:12:39] 51 5.5° -0.5° 425° (1.18rev) +659.5° [18:13:04] 52 6.0° +0.0° 431° (1.20rev) +665.5° [18:13:29] 53 49.3° +43.3° 481° (1.34rev) +714.9° [18:13:54] 54 5.4° -0.6° 486° (1.35rev) +801.3° [18:14:19] 55 6.0° +0.0° 492° (1.37rev) +807.4° [18:14:44] 56 6.0° +0.0° 498° (1.38rev) +813.4° [18:15:09] 57 6.0° +0.0° 504° (1.40rev) +819.4° [18:15:34] 58 6.0° +0.0° 510° (1.42rev) +825.4° [18:15:59] 59 5.8° -0.2° 516° (1.43rev) +831.3° [18:16:24] 60 6.0° +0.0° 522° (1.45rev) +837.4° [18:16:49] 61 5.8° -0.2° 528° (1.47rev) +843.3° [18:17:14] 62 5.8° -0.2° 534° (1.48rev) +849.1° [18:17:39] 63 6.0° +0.0° 540° (1.50rev) +855.1° [18:18:04] 64 5.8° -0.2° 546° (1.52rev) +861.0° [18:18:29] 65 6.0° +0.0° 552° (1.53rev) +867.0° [18:18:54] 66 48.4° +42.4° 600° (1.67rev) +915.4° [18:19:19] 67 11.2° +5.2° 611° (1.70rev) +1005.1° [18:19:44] 68 6.1° +0.1° 617° (1.72rev) +1011.3° [18:20:09] 69 5.8° -0.2° 623° (1.73rev) +1017.1° [18:20:34] 70 6.4° +0.4° 630° (1.75rev) +1023.6° [18:20:59] 71 5.8° -0.2° 636° (1.77rev) +1029.5° [18:21:24] 72 5.5° -0.5° 641° (1.78rev) +1035.0° [18:21:49] 73 6.1° +0.1° 647° (1.80rev) +1041.1° [18:22:14] 74 5.5° -0.5° 653° (1.81rev) +1046.7° [18:22:39] 75 6.0° +0.0° 659° (1.83rev) +1052.7° [18:23:04] 76 6.0° +0.0° 665° (1.85rev) +1058.7° [18:23:29] 77 5.8° -0.2° 671° (1.86rev) +1064.5° [18:23:54] 78 6.0° +0.0° 677° (1.88rev) +1070.5° [18:24:19] 79 6.1° +0.1° 683° (1.90rev) +1076.7° [18:24:44] 80 6.1° +0.1° 689° (1.91rev) +1082.8° [18:25:09] 81 6.1° +0.1° 695° (1.93rev) +1089.0° [18:25:34] 82 50.5° +44.5° 746° (2.07rev) +1139.5° [18:25:59] 83 6.0° +0.0° 752° (2.09rev) +1225.0° [18:26:24] 84 6.0° +0.0° 758° (2.10rev) +1231.0° [18:26:49] 85 6.0° +0.0° 764° (2.12rev) +1237.0° [18:27:14] 86 5.8° -0.2° 770° (2.14rev) +1242.9° [18:27:39] 87 6.9° +0.9° 776° (2.16rev) +1249.8° [18:28:04] 88 5.8° -0.2° 782° (2.17rev) +1255.6° [18:28:29] 89 5.8° -0.2° 788° (2.19rev) +1261.5° [18:28:54] 90 5.5° -0.5° 794° (2.20rev) +1267.0° [18:29:19] 91 6.0° +0.0° 800° (2.22rev) +1273.0° [18:29:44] 92 6.0° +0.0° 806° (2.24rev) +1279.0° [18:30:09] 93 5.5° -0.5° 811° (2.25rev) +1284.6° [18:30:34] 94 6.0° +0.0° 817° (2.27rev) +1290.6° [18:30:59] 95 6.1° +0.1° 823° (2.29rev) +1296.8° [18:31:24] 96 5.4° -0.6° 829° (2.30rev) +1302.1° [18:31:49] 97 6.0° +0.0° 835° (2.32rev) +1308.1° [18:32:14] 98 6.0° +0.0° 841° (2.34rev) +1314.1° [18:32:39] 99 6.0° +0.0° 847° (2.35rev) +1320.1° [18:33:04] 100 6.0° +0.0° 853° (2.37rev) +1326.1° [18:33:29] 101 6.0° +0.0° 859° (2.39rev) +1332.1° [18:33:54] 102 47.9° +41.9° 907° (2.52rev) +1380.0° [18:34:19] 103 6.1° +0.1° 913° (2.54rev) +1466.5° [18:34:44] 104 6.1° +0.1° 919° (2.55rev) +1472.7° [18:35:09] 105 49.6° +43.6° 969° (2.69rev) +1522.3° [18:35:34] 106 52.3° +46.3° 1021° (2.84rev) +1653.9° [18:35:59] 107 6.3° +0.3° 1027° (2.85rev) +1715.4° [18:36:24] 108 6.3° +0.3° 1034° (2.87rev) +1721.7° [18:36:49] 109 6.1° +0.1° 1040° (2.89rev) +1727.8° [18:37:14] 110 5.7° -0.3° 1045° (2.90rev) +1733.5° [18:37:39] 111 5.8° -0.2° 1051° (2.92rev) +1739.4° [18:38:04] 112 6.1° +0.1° 1057° (2.94rev) +1745.5° [18:38:29] 113 6.4° +0.4° 1064° (2.96rev) +1752.0° [18:38:54] 114 6.1° +0.1° 1070° (2.97rev) +1758.1° [18:39:19] 115 6.0° +0.0° 1076° (2.99rev) +1764.1° [18:39:44] 116 5.7° -0.3° 1082° (3.00rev) +1769.8° [18:40:09] 117 5.8° -0.2° 1088° (3.02rev) +1775.7° [18:40:34] 118 50.2° +44.2° 1138° (3.16rev) +1826.0° [18:40:59] 119 5.4° -0.6° 1143° (3.18rev) +1911.6° [18:41:24] 120 6.0° +0.0° 1149° (3.19rev) +1917.6° [18:41:49] 121 5.8° -0.2° 1155° (3.21rev) +1923.4° [18:42:14] 122 5.8° -0.2° 1161° (3.22rev) +1929.3° [18:42:39] 123 5.5° -0.5° 1166° (3.24rev) +1934.8° [18:43:04] 124 6.0° +0.0° 1172° (3.26rev) +1940.8° [18:43:29] 125 6.0° +0.0° 1178° (3.27rev) +1946.8° [18:43:54] 126 7.3° +1.3° 1186° (3.29rev) +1954.2° [18:44:19] 127 6.0° +0.0° 1192° (3.31rev) +1960.2° [18:44:44] 128 5.5° -0.5° 1197° (3.33rev) +1965.8° [18:45:09] 129 6.0° +0.0° 1203° (3.34rev) +1971.8° [18:45:34] 130 6.0° +0.0° 1209° (3.36rev) +1977.8° [18:45:59] 131 6.0° +0.0° 1215° (3.38rev) +1983.8° [18:46:24] 132 6.0° +0.0° 1221° (3.39rev) +1989.8° [18:46:49] 133 6.0° +0.0° 1227° (3.41rev) +1995.8° [18:47:14] 134 6.0° +0.0° 1233° (3.43rev) +2001.8° [18:47:39] 135 6.0° +0.0° 1239° (3.44rev) +2007.8° [18:48:04] 136 6.0° +0.0° 1245° (3.46rev) +2013.8° [18:48:29] 137 6.0° +0.0° 1251° (3.48rev) +2019.8° [18:48:54] 138 6.1° +0.1° 1257° (3.49rev) +2025.9° [18:49:19] 139 6.0° +0.0° 1263° (3.51rev) +2031.9° [18:49:44] 140 6.0° +0.0° 1269° (3.53rev) +2037.9° [18:50:09] 141 6.0° +0.0° 1275° (3.54rev) +2044.0° [18:50:34] 142 6.0° +0.0° 1281° (3.56rev) +2050.0° [18:50:59] 143 6.1° +0.1° 1288° (3.58rev) +2056.2° [18:51:24] 144 5.7° -0.3° 1293° (3.59rev) +2061.9° [18:51:49] 145 6.1° +0.1° 1299° (3.61rev) +2068.0° [18:52:14] 146 6.1° +0.1° 1306° (3.63rev) +2074.2° [18:52:39] 147 5.5° -0.5° 1311° (3.64rev) +2079.8° [18:53:04] 148 6.1° +0.1° 1317° (3.66rev) +2085.9° [18:53:29] 149 6.1° +0.1° 1323° (3.68rev) +2092.0° [18:53:54] 150 5.7° -0.3° 1329° (3.69rev) +2097.8° [18:54:19] 151 6.1° +0.1° 1335° (3.71rev) +2103.9° [18:54:44] 152 5.8° -0.2° 1341° (3.73rev) +2109.8° [18:55:09] 153 6.0° +0.0° 1347° (3.74rev) +2115.8° [18:55:34] 154 6.1° +0.1° 1353° (3.76rev) +2121.9° [18:55:59] 155 5.2° -0.8° 1359° (3.77rev) +2127.2° [18:56:24] 156 6.3° +0.3° 1365° (3.79rev) +2133.4° [18:56:49] 157 6.1° +0.1° 1371° (3.81rev) +2139.6° [18:57:14] 158 6.3° +0.3° 1377° (3.83rev) +2145.9° [18:57:39] 159 6.3° +0.3° 1384° (3.84rev) +2152.2° [18:58:04] 160 6.0° +0.0° 1390° (3.86rev) +2158.2° [18:58:29] 161 6.1° +0.1° 1396° (3.88rev) +2164.3° [18:58:54] 162 8.1° +2.1° 1404° (3.90rev) +2172.4° [18:59:19] 163 6.0° +0.0° 1410° (3.92rev) +2178.4° [18:59:44] 164 5.5° -0.5° 1415° (3.93rev) +2184.0° [19:00:09] 165 6.0° +0.0° 1421° (3.95rev) +2190.0° [19:00:34] 166 6.1° +0.1° 1428° (3.97rev) +2196.2° [19:00:59] 167 5.5° -0.5° 1433° (3.98rev) +2201.7° [19:01:24] 168 6.1° +0.1° 1439° (4.00rev) +2207.8°