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Fixing homing stuff

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This commit is contained in:
bdring
2021-07-01 08:17:18 -05:00
parent 18f2ad6bd1
commit c1baa2f4c8
3 changed files with 22 additions and 11 deletions
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15
Grbl_Esp32/data/config.yaml
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@@ -24,10 +24,13 @@ axes:
positive_direction: false
feed_rate: 50.000
seek_rate: 200.000
debounce: 500
pulloff: 1.000
gang0:
endstops:
dual: gpio.17:low:pu
hard_limits: false
stepstick:
direction: gpio.14
step: gpio.12
@@ -44,11 +47,14 @@ axes:
mpos: 10
positive_direction: false
feed_rate: 50.000
seek_rate: 500.000
seek_rate: 600.000
debounce: 500
pulloff: 1.500
gang0:
endstops:
dual: gpio.4:low:pu
hard_limits: false
stepstick:
direction: gpio.15
step: gpio.26
@@ -64,13 +70,16 @@ axes:
cycle: 1
mpos: 10
positive_direction: true
feed_rate: 50.000
seek_rate: 100.000
feed_rate: 30.000
seek_rate: 300.000
locate_scaler: 2.000
debounce: 500
pulloff: 2.000
gang0:
endstops:
dual: gpio.16:low:pu
hard_limits: true
stepstick:
direction: gpio.33
step: gpio.27

6
Grbl_Esp32/src/Limits.cpp
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@@ -361,8 +361,10 @@ void limits_enable() {
for (int gang_index = 0; gang_index < 2; gang_index++) {
auto gangConfig = config->_axes->_axis[axis]->_gangs[gang_index];
if (gangConfig->_endstops != nullptr && gangConfig->_endstops->_dual.defined()) {
Pin& pin = gangConfig->_endstops->_dual;
pin.attachInterrupt(isr_limit_switches, CHANGE, nullptr);
if (gangConfig->_endstops->_hardLimits) {
Pin& pin = gangConfig->_endstops->_dual;
pin.attachInterrupt(isr_limit_switches, CHANGE, nullptr);
}
}
}
}

12
Grbl_Esp32/src/Machine/Homing.h
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@@ -25,15 +25,15 @@ namespace Machine {
public:
Homing() = default;
int _cycle = -1;
int _cycle = -1; // what homing cycle does this axis home on?
bool _square = false;
bool _positiveDirection = true;
float _mpos = 0.0f;
float _feedRate = 50.0f;
float _seekRate = 200.0f;
float _pulloff = 1.0f; // mm
int _debounce = 10;
float _search_scaler = 1.1f;
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
float _search_scaler = 1.1f; // multiplied by max travel for max homing distance on first touch
float _locate_scaler = 5.0f;
// Configuration system helpers: