Yes having the files in trunk rather than in trunk/polargraphcontroller was an early mistake that constantly irritates me - maybe that'll be the first fix for 2013 🙂
I always thought that the limit switches would be on the surface, somewhere near the motors, but I do quite like the idea of having a latching dock of some sort as the home point. It wouldn't solve the problem of the initial calibration, unless the gondola was already in the dock on startup. So I don't know if it'd be worth it.
And there are four pins broken out on the polarshield that are there for that purpose - a x min and max and a y min and max. They are digital inputs and there's a +v and gnd next to each one.
The 0.5 is because the float always usually gets truncated down, so even 1.9 still gets issued as 1 when converted to an int. Adding the 0.5 means that it gets converted to 2 instead. I kinda thought this was a good idea at the time, but I'm not really convinced about whether it makes things better (more accurate, or true) or worse.
Happy new year!
Sn
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