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Teacup_Firmware
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home to max should now return to zero after homing

This commit is contained in:
Michael Moon 2011-02-15 10:10:29 +11:00
parent c810875755
commit 940d474c6c
1 changed files with 30 additions and 3 deletions
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33
home.c
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@ -17,6 +17,9 @@
// #define FEEDRATE_TO_DELAY(F) 60.0 * ((float) F_CPU) / STEPS_PER_MM_X / F // #define FEEDRATE_TO_DELAY(F) 60.0 * ((float) F_CPU) / STEPS_PER_MM_X / F
void home() { void home() {
#if (! defined X_MIN_PIN) || (! defined Y_MIN_PIN) || (! defined Z_MIN_PIN)
TARGET t = {0, 0, 0, 0, 0};
#endif
queue_wait(); queue_wait();
uint8_t denoise_count = 0; uint8_t denoise_count = 0;
@ -65,7 +68,15 @@ void home() {
} }
// set X home // set X home
startpoint.X = current_position.X = 0; #ifdef X_MIN_PIN
startpoint.X = current_position.X = 0;
#else
// set position to MAX
startpoint.X = current_position.X = (int32_t) (X_MAX * STEPS_PER_MM_X);
// go to zero
t.F = MAXIMUM_FEEDRATE_X;
enqueue(&t);
#endif
#endif #endif
// home Y // home Y
@ -112,7 +123,15 @@ void home() {
} }
// set Y home // set Y home
startpoint.Y = current_position.Y = 0; #ifdef Y_MIN_PIN
startpoint.Y = current_position.Y = 0;
#else
// set position to MAX
startpoint.Y = current_position.Y = (int32_t) (Y_MAX * STEPS_PER_MM_Y);
// go to zero
t.F = MAXIMUM_FEEDRATE_Y;
enqueue(&t);
#endif
#endif #endif
// home Z // home Z
@ -159,6 +178,14 @@ void home() {
} }
// set Z home // set Z home
startpoint.Z = current_position.Z = 0; #ifdef Z_MIN_PIN
startpoint.Z = current_position.Z = 0;
#else
// set position to MAX
startpoint.Z = current_position.Z = (int32_t) (Z_MAX * STEPS_PER_MM_Z);
// go to zero
t.F = MAXIMUM_FEEDRATE_Z;
enqueue(&t);
#endif
#endif #endif
} }