Updated some yaml key names for consistency

Grbl_Esp32/data/barts_3axis_test.yaml

@@ -23,10 +23,10 @@ axes:
     max_travel: 1000
     soft_limits: false
     homing:
-      cycle: 1
+      cycle: 2
       positive_direction: false
       mpos: 10.000
-      debounce: 10
+      debounce_ms: 250
       pulloff: 1.000
       square: false
       seek_rate: 500.000
@@ -57,7 +57,7 @@ axes:
       cycle: 2
       positive_direction: false
       mpos: 10.000
-      debounce: 10
+      debounce_ms: 250
       pulloff: 1.000
       square: false
       seek_rate: 500.000
@@ -87,7 +87,7 @@ axes:
       cycle: 2
       positive_direction: false
       mpos: 10.000
-      debounce: 10
+      debounce_ms: 250
       pulloff: 1.000
       square: false
       seek_rate: 500.000
@@ -145,7 +145,7 @@ sdcard:
 coolant:
   flood: NO_PIN
   mist: NO_PIN
-  delay: 0.000
+  delay_ms: 0.000
 
 probe:
   pin: NO_PIN

Grbl_Esp32/data/config.yaml

@@ -9,7 +9,7 @@ stepping:
   pulse_us: 2
   disable_delay_us: 0
 
-homing_init_lock: false
+homing_init_lock: true
 
 axes:
   number_axis: 3
@@ -21,12 +21,12 @@ axes:
     acceleration: 25
     max_travel: 1000
     homing:
-      cycle: 2
+      cycle: -1
       mpos: 10
       positive_direction: false
       feed_rate: 50.000
       seek_rate: 200.000
-      debounce: 500
+      debounce_ms: 500
       pulloff: 1.000
     
     gang0:
@@ -45,12 +45,12 @@ axes:
     acceleration: 25
     max_travel: 1000
     homing:
-      cycle: 2
+      cycle: 0
       mpos: 10
       positive_direction: false
       feed_rate: 50.000
       seek_rate: 600.000
-      debounce: 500
+      debounce_ms: 500
       pulloff: 1.500
 
     gang0:
@@ -76,13 +76,13 @@ axes:
       feed_rate: 30.000
       seek_scaler: 2.000
       feed_scaler: 1.000
-      debounce: 500
+      debounce_ms: 500
       pulloff: 1.000
 
     gang0:
       endstops:
         dual: gpio.16:low:pu
-        hard_limits: true
+        hard_limits: false
       stepstick:
         direction: gpio.33
         step: gpio.27

Grbl_Esp32/src/CoolantControl.cpp

@@ -95,7 +95,7 @@ void CoolantControl::set_state(CoolantState state) {
     }
     write(state);
     sys.report_ovr_counter = 0;  // Set to report change immediately
-    delay_msec(int32_t(1000.0 * _delay), DwellMode::SysSuspend);
+    delay_msec(_delay_ms, DwellMode::SysSuspend);
 }
 
 void CoolantControl::off() {
@@ -116,5 +116,5 @@ void CoolantControl::sync(CoolantState state) {
 void CoolantControl::group(Configuration::HandlerBase& handler) {
     handler.item("flood", _flood);
     handler.item("mist", _mist);
-    handler.item("delay", _delay);
+    handler.item("delay_ms", _delay_ms);
 }

Grbl_Esp32/src/CoolantControl.h

@@ -31,7 +31,7 @@ class CoolantControl : public Configuration::Configurable {
     Pin _mist;
     Pin _flood;
 
-    float _delay = 0.0;
+    uint32_t _delay_ms = 0;
 
     void write(CoolantState state);
 

Grbl_Esp32/src/Limits.cpp

@@ -186,7 +186,7 @@ static void limits_go_home(uint8_t cycle_mask, uint32_t n_locate_cycles) {
             auto axisConfig = config->_axes->_axis[axis];
             auto homing     = axisConfig->_homing;
 
-            debounce = std::max(debounce, homing->_debounce);
+            debounce = std::max(debounce, homing->_debounce_ms);
 
             auto axis_homing_rate = seek ? homing->_seekRate : homing->_feedRate;
 

Grbl_Esp32/src/Machine/Homing.h

@@ -30,13 +30,13 @@ namespace Machine {
         int   _cycle             = -1;  // what homing cycle does this axis home on?
         bool  _square            = false;
         bool  _positiveDirection = true;
-        float _mpos              = 0.0f;
+        float _mpos              = 0.0f;    // After homing this will be the mpos of the switch location
         float _feedRate          = 50.0f;   // pulloff and second touch speed
         float _seekRate          = 200.0f;  // this first approach speed
         float _pulloff           = 1.0f;    // mm
-        int   _debounce          = 250;     // ms settling time for homing switches after motion
+        int   _debounce_ms       = 250;     // ms settling time for homing switches after motion
         float _seek_scaler       = 1.1f;    // multiplied by max travel for max homing distance on first touch
-        float _feed_scaler       = 1.0f;
+        float _feed_scaler       = 1.1f;    // multiplier to pulloff for moving to switch after pulloff
 
         // Configuration system helpers:
         void validate() const override { Assert(_cycle >= 0, "Homing cycle must be defined"); }
@@ -47,7 +47,7 @@ namespace Machine {
             handler.item("mpos", _mpos);
             handler.item("feed_rate", _feedRate);
             handler.item("seek_rate", _seekRate);
-            handler.item("debounce", _debounce);
+            handler.item("debounce_ms", _debounce_ms);
             handler.item("pulloff", _pulloff);
             handler.item("square", _square);
             handler.item("seek_scaler", _seek_scaler);