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Auto squaring improvement

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When squaring axes the first motion with both motors will only do a seek move and a back off, rather than a seek, back off plus a locate, back off squence.

This speeds up the homing sequence. The dual move does not need a locate cycle, because each side will get a locate cycle when they are individually homed.
This commit is contained in:
bdring
2020-03-05 10:31:59 -06:00
parent aac09c40a9
commit a4a96b3ac0
3 changed files with 16 additions and 2 deletions
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4
Grbl_Esp32/grbl_limits.cpp
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@@ -27,6 +27,8 @@
#include "grbl.h" #include "grbl.h"
uint8_t n_homing_locate_cycle = N_HOMING_LOCATE_CYCLE;
xQueueHandle limit_sw_queue; // used by limit switch debouncing xQueueHandle limit_sw_queue; // used by limit switch debouncing
// Homing axis search distance multiplier. Computed by this value times the cycle travel. // Homing axis search distance multiplier. Computed by this value times the cycle travel.
@@ -89,7 +91,7 @@ void limits_go_home(uint8_t cycle_mask)
#endif #endif
// Initialize variables used for homing computations. // Initialize variables used for homing computations.
uint8_t n_cycle = (2*N_HOMING_LOCATE_CYCLE+1); uint8_t n_cycle = (2*n_homing_locate_cycle+1);
uint8_t step_pin[N_AXIS]; uint8_t step_pin[N_AXIS];
float target[N_AXIS]; float target[N_AXIS];
float max_travel = 0.0; float max_travel = 0.0;

2
Grbl_Esp32/grbl_limits.h
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@@ -28,6 +28,8 @@
#ifndef grbl_limits_h #ifndef grbl_limits_h
#define grbl_limits_h #define grbl_limits_h
extern uint8_t n_homing_locate_cycle;
#define SQUARING_MODE_DUAL 0 // both motors run #define SQUARING_MODE_DUAL 0 // both motors run
#define SQUARING_MODE_A 1 // A motor runs #define SQUARING_MODE_A 1 // A motor runs
#define SQUARING_MODE_B 2 // B motor runs #define SQUARING_MODE_B 2 // B motor runs

10
Grbl_Esp32/motion_control.cpp
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@@ -262,6 +262,8 @@ void mc_homing_cycle(uint8_t cycle_mask)
// ------------------------------------------------------------------------------------- // -------------------------------------------------------------------------------------
// Perform homing routine. NOTE: Special motion case. Only system reset works. // Perform homing routine. NOTE: Special motion case. Only system reset works.
n_homing_locate_cycle = N_HOMING_LOCATE_CYCLE;
#ifdef HOMING_SINGLE_AXIS_COMMANDS #ifdef HOMING_SINGLE_AXIS_COMMANDS
/* /*
if (cycle_mask) { limits_go_home(cycle_mask); } // Perform homing cycle based on mask. if (cycle_mask) { limits_go_home(cycle_mask); } // Perform homing cycle based on mask.
@@ -272,8 +274,10 @@ void mc_homing_cycle(uint8_t cycle_mask)
limits_go_home(cycle_mask); // Homing cycle 0 limits_go_home(cycle_mask); // Homing cycle 0
else { else {
ganged_mode = SQUARING_MODE_DUAL; ganged_mode = SQUARING_MODE_DUAL;
n_homing_locate_cycle = 0; // don't do a second touch cycle
limits_go_home(cycle_mask); limits_go_home(cycle_mask);
ganged_mode = SQUARING_MODE_A; ganged_mode = SQUARING_MODE_A;
n_homing_locate_cycle = N_HOMING_LOCATE_CYCLE; // restore to default value
limits_go_home(cycle_mask); limits_go_home(cycle_mask);
ganged_mode = SQUARING_MODE_B; ganged_mode = SQUARING_MODE_B;
limits_go_home(cycle_mask); limits_go_home(cycle_mask);
@@ -289,8 +293,10 @@ void mc_homing_cycle(uint8_t cycle_mask)
limits_go_home(HOMING_CYCLE_0); // Homing cycle 0 limits_go_home(HOMING_CYCLE_0); // Homing cycle 0
else { else {
ganged_mode = SQUARING_MODE_DUAL; ganged_mode = SQUARING_MODE_DUAL;
n_homing_locate_cycle = 0; // don't do a second touch cycle
limits_go_home(HOMING_CYCLE_0); limits_go_home(HOMING_CYCLE_0);
ganged_mode = SQUARING_MODE_A; ganged_mode = SQUARING_MODE_A;
n_homing_locate_cycle = N_HOMING_LOCATE_CYCLE; // restore to default value
limits_go_home(HOMING_CYCLE_0); limits_go_home(HOMING_CYCLE_0);
ganged_mode = SQUARING_MODE_B; ganged_mode = SQUARING_MODE_B;
limits_go_home(HOMING_CYCLE_0); limits_go_home(HOMING_CYCLE_0);
@@ -302,8 +308,10 @@ void mc_homing_cycle(uint8_t cycle_mask)
limits_go_home(HOMING_CYCLE_1); limits_go_home(HOMING_CYCLE_1);
else { else {
ganged_mode = SQUARING_MODE_DUAL; ganged_mode = SQUARING_MODE_DUAL;
n_homing_locate_cycle = 0; // don't do a second touch cycle
limits_go_home(HOMING_CYCLE_1); limits_go_home(HOMING_CYCLE_1);
ganged_mode = SQUARING_MODE_A; ganged_mode = SQUARING_MODE_A;
n_homing_locate_cycle = N_HOMING_LOCATE_CYCLE; // restore to default value
limits_go_home(HOMING_CYCLE_1); limits_go_home(HOMING_CYCLE_1);
ganged_mode = SQUARING_MODE_B; ganged_mode = SQUARING_MODE_B;
limits_go_home(HOMING_CYCLE_1); limits_go_home(HOMING_CYCLE_1);
@@ -316,8 +324,10 @@ void mc_homing_cycle(uint8_t cycle_mask)
limits_go_home(HOMING_CYCLE_2); limits_go_home(HOMING_CYCLE_2);
else { else {
ganged_mode = SQUARING_MODE_DUAL; ganged_mode = SQUARING_MODE_DUAL;
n_homing_locate_cycle = 0; // don't do a second touch cycle
limits_go_home(HOMING_CYCLE_2); limits_go_home(HOMING_CYCLE_2);
ganged_mode = SQUARING_MODE_A; ganged_mode = SQUARING_MODE_A;
n_homing_locate_cycle = N_HOMING_LOCATE_CYCLE; // restore to default value
limits_go_home(HOMING_CYCLE_2); limits_go_home(HOMING_CYCLE_2);
ganged_mode = SQUARING_MODE_B; ganged_mode = SQUARING_MODE_B;
limits_go_home(HOMING_CYCLE_2); limits_go_home(HOMING_CYCLE_2);