Chris Morley wrote:

> You could have classicladder send position commands to a stepgen. How 
> did mach3 handle the missed steps? Could you put an encoder on the 
> stepper motor?

You don't need an encoder, but you do need a way of "homing".  There are 
8 turret positions, so they're 45 degrees apart.  Let's say you need to 
move 5 degrees backwards to be guaranteed that the thing is seated 
properly.  All you do is go forward 45 degrees (plus a little so you're 
sure to be past the next tool stop), then back 5.  Actually, it's 
forward "a few", forward 45*num_tools_to_skip, back 5. 

You essentially have homing on every pocket because the lock prevents 
the motor from moving the turret past "home" every time.

- Steve


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