From f20506d726950537585732096049951cc78d35db Mon Sep 17 00:00:00 2001
From: bdring <barton.dring@gmail.com>
Date: Sat, 24 Jul 2021 20:33:35 -0500
Subject: [PATCH] Wip - Homing

---
 Grbl_Esp32/data/config.yaml | 6 +++---
 Grbl_Esp32/src/Limits.cpp   | 4 +++-
 platformio.ini              | 2 +-
 3 files changed, 7 insertions(+), 5 deletions(-)

diff --git a/Grbl_Esp32/data/config.yaml b/Grbl_Esp32/data/config.yaml
index a140214e..2be0d925 100644
--- a/Grbl_Esp32/data/config.yaml
+++ b/Grbl_Esp32/data/config.yaml
@@ -52,9 +52,9 @@ axes:
       mpos: 10
       positive_direction: false
       feed_rate: 50.000
-      seek_rate: 600.000
+      seek_rate: 200.000
       debounce_ms: 500
-      pulloff: 1.500
+      pulloff: 1.00
 
     gang0:
       endstops:
@@ -65,7 +65,7 @@ axes:
         step: gpio.26
     gang1:
       endstops:
-        limit_neg: gpio.16:low:pu
+        limit_all: gpio.16:low:pu
         hard_limits: true
       stepstick:
         direction: gpio.33
diff --git a/Grbl_Esp32/src/Limits.cpp b/Grbl_Esp32/src/Limits.cpp
index c95be810..27f28633 100644
--- a/Grbl_Esp32/src/Limits.cpp
+++ b/Grbl_Esp32/src/Limits.cpp
@@ -252,7 +252,8 @@ static void limits_go_home(uint8_t cycle_mask, uint32_t n_locate_cycles) {
             if (approach) {
                 // Check limit state. Lock out cycle axes when they change.
                 // XXX do we check only the switch in the direction of motion?
-                uint32_t limitedAxes = limits_check(-1);
+                //uint32_t limitedAxes = limits_check(-1);
+                uint32_t limitedAxes = Machine::Axes::posLimitMask | Machine::Axes::negLimitMask;
 
                 if (old != remainingMotors) {
                     //log_info("remainingMotors: " << remainingMotors);
@@ -452,6 +453,7 @@ void limits_init() {
 // Return a mask of the switches that are engaged.
 AxisMask limits_check(AxisMask check_mask) {
     // Expand the bitmask to include both gangs
+
     bit_true(check_mask, check_mask << 16);
     return (Machine::Axes::posLimitMask & check_mask) | (Machine::Axes::negLimitMask & check_mask);
 }
diff --git a/platformio.ini b/platformio.ini
index 56a29385..fcf5c212 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -14,7 +14,7 @@ include_dir = Grbl_Esp32
 lib_dir = libraries
 test_dir = Grbl_Esp32/test
 data_dir = Grbl_Esp32/data
-default_envs = wifibt
+default_envs = wifi
 ;extra_configs=debug.ini
 
 [common_env_data]