Sorry for all the people who couldn’t watch the Reprap move in 3D last friday in Bilbao, it’s finally working tonight!
The code to control the robot is really elegant, and it was not really hard to find the missing part to make it work properly.
I’ve also add a setMax() method on the axises, so the hardware opto-endstop are not needed anymore. but it’ll be cool to keep them just to use them to set the print-header home. I think I’ve seen some example like this somewhere, but I’m not usre yet how it works.
People interesting in downloading/cloning/forking the Arduino firmware for Reprap can go to the project page on Github.