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Added some more intelligent homing logic

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This commit is contained in:
Sam Ward 2011-05-11 21:20:54 +08:00
parent 0d4dadba39
commit 838eb69410
1 changed files with 7 additions and 5 deletions
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12
Tonokip_Firmware/Tonokip_Firmware.pde
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@ -84,7 +84,7 @@ unsigned long interval;
float destination_x =0.0, destination_y = 0.0, destination_z = 0.0, destination_e = 0.0;
float current_x = 0.0, current_y = 0.0, current_z = 0.0, current_e = 0.0;
long x_interval, y_interval, z_interval, e_interval; // for speed delay
float feedrate = 1500, next_feedrate, z_feedrate;
float feedrate = 1500, next_feedrate, z_feedrate, saved_feedrate;
float time_for_move;
long gcode_N, gcode_LastN;
bool relative_mode = false; //Determines Absolute or Relative Coordinates
@ -462,6 +462,7 @@ inline void process_commands()
while((millis() - previous_millis_heater) < codenum ) manage_heater(); //manage heater until time is up
break;
case 28: //G28 Home all Axis one at a time
saved_feedrate = feedrate;
destination_x = 0;
current_x = 0;
destination_y = 0;
@ -474,7 +475,7 @@ inline void process_commands()
if(X_MIN_PIN > -1) {
current_x = 0;
destination_x = -250;
destination_x = -1.5 * X_MAX_LENGTH;
feedrate = min_units_per_second*60;
prepare_move();
@ -492,7 +493,7 @@ inline void process_commands()
if(Y_MIN_PIN > -1) {
current_y = 0;
destination_y = -250;
destination_y = -1.5 * Y_MAX_LENGTH;
feedrate = min_units_per_second*60;
prepare_move();
@ -510,7 +511,7 @@ inline void process_commands()
if(Z_MIN_PIN > -1) {
current_z = 0;
destination_z = -250;
destination_z = -1.5 * Z_MAX_LENGTH;
feedrate = max_z_feedrate/2;
prepare_move();
@ -525,7 +526,8 @@ inline void process_commands()
destination_z = 0;
feedrate = 0;
}
feedrate = saved_feedrate;
previous_millis_cmd = millis();
break;
case 90: // G90