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individual functions to home each axis

This commit is contained in:
Michael Moon 2011-02-20 13:39:07 +11:00
parent 18d47056f5
commit 4426c69274
2 changed files with 31 additions and 8 deletions
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35
home.c
View File

@ -18,10 +18,18 @@
void home() {
#if (! defined X_MIN_PIN) || (! defined Y_MIN_PIN) || (! defined Z_MIN_PIN)
TARGET t = {0, 0, 0, 0, 0};
// TARGET t = {0, 0, 0, 0, 0};
#endif
queue_wait();
// uint8_t denoise_count = 0;
home_x();
home_y();
home_z();
}
void home_x() {
uint8_t denoise_count = 0;
// home X
@ -71,6 +79,7 @@ void home() {
#ifdef X_MIN_PIN
startpoint.X = current_position.X = 0;
#else
TARGET t = {0, 0, 0, 0, 0};
// set position to MAX
startpoint.X = current_position.X = (int32_t) (X_MAX * STEPS_PER_MM_X);
// go to zero
@ -78,14 +87,18 @@ void home() {
enqueue(&t);
#endif
#endif
}
void home_y() {
uint8_t denoise_count = 0;
// home Y
#if defined Y_MIN_PIN || defined Y_MAX_PIN
// hit home hard
#ifdef Y_MIN_PIN
y_direction(0);
y_direction(0);
#else
y_direction(1);
y_direction(1);
#endif
while (denoise_count < 8) {
// denoise
@ -108,12 +121,12 @@ void home() {
// back off slowly
#ifdef Y_MIN_PIN
y_direction(1);
while (y_min() != 0) {
y_direction(1);
while (y_min() != 0) {
#else
y_direction(0);
while (y_max() != 0) {
#endif
y_direction(0);
while (y_max() != 0) {
#endif
// step
y_step();
delay(5);
@ -126,6 +139,7 @@ void home() {
#ifdef Y_MIN_PIN
startpoint.Y = current_position.Y = 0;
#else
TARGET t = {0, 0, 0, 0, 0};
// set position to MAX
startpoint.Y = current_position.Y = (int32_t) (Y_MAX * STEPS_PER_MM_Y);
// go to zero
@ -133,7 +147,11 @@ void home() {
enqueue(&t);
#endif
#endif
}
void home_z() {
uint8_t denoise_count = 0;
// home Z
#if defined Z_MIN_PIN || defined Z_MAX_PIN
// hit home hard
@ -181,6 +199,7 @@ void home() {
#ifdef Z_MIN_PIN
startpoint.Z = current_position.Z = 0;
#else
TARGET t = {0, 0, 0, 0, 0};
// set position to MAX
startpoint.Z = current_position.Z = (int32_t) (Z_MAX * STEPS_PER_MM_Z);
// go to zero

4
home.h
View File

@ -2,4 +2,8 @@
void home(void);
void home_x(void);
void home_y(void);
void home_z(void);
#endif /* _HOME_H */