From 18f2ad6bd135de90b0e93efb8d62c824083ef6a3 Mon Sep 17 00:00:00 2001
From: bdring <barton.dring@gmail.com>
Date: Wed, 30 Jun 2021 21:19:55 -0500
Subject: [PATCH] Fixed homing speeds and pulloff

---
 Grbl_Esp32/data/config.yaml | 7 ++++---
 Grbl_Esp32/src/Limits.cpp   | 6 ++++--
 2 files changed, 8 insertions(+), 5 deletions(-)

diff --git a/Grbl_Esp32/data/config.yaml b/Grbl_Esp32/data/config.yaml
index 7571d2fb..8fb54200 100644
--- a/Grbl_Esp32/data/config.yaml
+++ b/Grbl_Esp32/data/config.yaml
@@ -23,7 +23,7 @@ axes:
       mpos: 10
       positive_direction: false
       feed_rate: 50.000
-      seek_rate: 100.000
+      seek_rate: 200.000
     
     gang0:
       endstops:
@@ -44,7 +44,7 @@ axes:
       mpos: 10
       positive_direction: false
       feed_rate: 50.000
-      seek_rate: 200.000
+      seek_rate: 500.000
 
     gang0:
       endstops:
@@ -65,7 +65,8 @@ axes:
       mpos: 10
       positive_direction: true
       feed_rate: 50.000
-      seek_rate: 200.000
+      seek_rate: 100.000
+      locate_scaler: 2.000
 
     gang0:
       endstops:
diff --git a/Grbl_Esp32/src/Limits.cpp b/Grbl_Esp32/src/Limits.cpp
index 8da2d2c3..783e127b 100644
--- a/Grbl_Esp32/src/Limits.cpp
+++ b/Grbl_Esp32/src/Limits.cpp
@@ -125,6 +125,7 @@ void limits_go_home(uint8_t cycle_mask, uint32_t n_locate_cycles) {
 
     // Set search mode with approach at seek rate to quickly engage the specified cycle_mask limit switches.
     bool     approach = true;
+    bool     seek     = true;
     uint8_t  n_active_axis;
     AxisMask limit_state, axislock;
     float    homing_rate = 0.0;
@@ -160,7 +161,7 @@ void limits_go_home(uint8_t cycle_mask, uint32_t n_locate_cycles) {
                 if (axis_debounce > debounce) {
                     debounce = axis_debounce;
                 }
-                auto axis_homing_rate = approach ? homing->_seekRate : homing->_feedRate;
+                auto axis_homing_rate = seek ? homing->_seekRate : homing->_feedRate;
 
                 // Accumulate the squares of the homing rates for later use
                 // in computing the aggregate feed rate.
@@ -192,7 +193,7 @@ void limits_go_home(uint8_t cycle_mask, uint32_t n_locate_cycles) {
         for (int axis = 0; axis < n_axis; axis++) {
             auto axisConfig = config->_axes->_axis[axis];
             auto homing     = axisConfig->_homing;
-            auto scaler     = approach ? homing->_search_scaler : homing->_locate_scaler;
+            auto scaler     = approach ? homing->_search_scaler : 1.0;
             if (bitnum_istrue(axislock, axis)) {
                 target[axis] *= limitingRate * scaler;
             }
@@ -220,6 +221,7 @@ void limits_go_home(uint8_t cycle_mask, uint32_t n_locate_cycles) {
                 }
                 sys.homing_axis_lock = axislock;
             }
+            seek = false;
             st_prep_buffer();  // Check and prep segment buffer. NOTE: Should take no longer than 200us.
             // Exit routines: No time to run protocol_execute_realtime() in this loop.
             if (rtSafetyDoor || rtReset || rtCycleStop) {