bug: it's possible to cause a hard limit error by jogging #6562
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sfoster1
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Sep 17, 2020
When we jog during labware calibration, it's possible to trigger hard limits, most commonly in +z. We should catch and prevent these, since hard limits mess up the positioning state. But we have no way to actually display errors during jog actions, so we just swallow the error at the jog level. So, if you jog too far, the jog just doesn't do anything. Closes #6562
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In some (admittedly abnormal) calibration workflows, users manually jog the gantry up very far to get around labware. For instance, for a very deep and tall tube, since the tubes are angled it's often better to remove the tube and calibrate XY in the rack, then raise the pipette, put the tube back in, and calibrate Z to the top of the tube. When executing this with a very long pipette, it's easy to accidentally hit the home switch at the top of the Z, which poisons the calibration.
Add something to the jog commands that prevents the Z axis (or any other axis) from moving up so far it hits the switch.
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