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WIP - Homing

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Homing is good now. Need to figure out some edge cases and test.
This commit is contained in:
bdring
2021-07-25 10:50:10 -05:00
parent d82456d63e
commit 871158d59e
2 changed files with 1 additions and 10 deletions
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2
Grbl_Esp32/data/config.yaml
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@@ -30,7 +30,7 @@ axes:
seek_rate: 200.000 seek_rate: 200.000
debounce_ms: 500 debounce_ms: 500
pulloff: 1.000 pulloff: 1.000
square: true square: false
gang0: gang0:
endstops: endstops:

9
Grbl_Esp32/src/Limits.cpp
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@@ -245,21 +245,12 @@ static void limits_go_home(uint8_t cycle_mask, uint32_t n_locate_cycles) {
// The following might fail if only one gang has limit switches. Anaylze me. // The following might fail if only one gang has limit switches. Anaylze me.
uint32_t remainingMotors = (cycle_mask | (cycle_mask << 16)) & Machine::Axes::motorMask; uint32_t remainingMotors = (cycle_mask | (cycle_mask << 16)) & Machine::Axes::motorMask;
uint32_t old = 0;
do { do {
if (approach) { if (approach) {
// Check limit state. Lock out cycle axes when they change. // Check limit state. Lock out cycle axes when they change.
// XXX do we check only the switch in the direction of motion? // XXX do we check only the switch in the direction of motion?
uint32_t limitedAxes = Machine::Axes::posLimitMask | Machine::Axes::negLimitMask; uint32_t limitedAxes = Machine::Axes::posLimitMask | Machine::Axes::negLimitMask;
if (old != remainingMotors) {
//log_info("remainingMotors: " << remainingMotors);
log_info("remainingMotors: 0x" << String(remainingMotors, 16));
log_info("limitedAxes: 0x" << String(limitedAxes, 16));
old = remainingMotors;
}
config->_axes->stop_motors(limitedAxes); config->_axes->stop_motors(limitedAxes);
bit_false(remainingMotors, limitedAxes); bit_false(remainingMotors, limitedAxes);
} }