RSDK-8836: Gantry Can't Home with Limit Switches

[martha-johnston]

when checking if the gantry hit a limit switch during homing, we were also checking if it hit the other limit switch that we didn't expect, and returned an error so the user knows their limit switches aren't configured correctly. this caused an out of range error when there was only 1 limit switch since there isn't a second limit switch to check but we were assuming there was.

I thought there'd be a software test to check this but all the functions, specifically GPIOPinByName are injected so it failed when we told it to and passed when we told it to. looking for suggestions of a good way to add a test for this even now that it's fixed

[randhid]

Should we pass in the limit switch pin name to carry out this logic rather than the pin number, the limit pins are an array of strings after all. So the wrong hits would be defined by the name of the pin.

I'm okay doing this for now, we may need to do a bit of a code refactor to make all of this more testable.

[martha-johnston]

Should we pass in the limit switch pin name to carry out this logic rather than the pin number, the limit pins are an array of strings after all. So the wrong hits would be defined by the name of the pin.

I like that because it simplifies this check, but I think it slightly complicates the other instances of checking the pins, so I think you're right it'd be better to change in a future refactor