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Merge pull request #37 from sam-ward/master

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Single axis homing in G28 command
This commit is contained in:
kliment 2011-06-21 07:16:28 -07:00
commit c3e086d994
1 changed files with 57 additions and 49 deletions
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106
Tonokip_Firmware/Tonokip_Firmware.pde
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@ -85,6 +85,7 @@ float destination_x = 0.0, destination_y = 0.0, destination_z = 0.0, destination
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, saved_feedrate;
bool home_all_axis = true;
float time_for_move;
long gcode_N, gcode_LastN;
bool relative_mode = false; //Determines Absolute or Relative Coordinates
@ -477,60 +478,67 @@ inline void process_commands()
destination_e = 0;
current_e = 0;
feedrate = 0;
home_all_axis = !((code_seen('X')) || (code_seen('Y')) || (code_seen('Z')));
if((X_MIN_PIN > -1 && X_HOME_DIR==-1) || (X_MAX_PIN > -1 && X_HOME_DIR==1)) {
current_x = 0;
destination_x = 1.5 * X_MAX_LENGTH * X_HOME_DIR;
feedrate = min_units_per_second * 60;
prepare_move();
current_x = 0;
destination_x = -1 * X_HOME_DIR;
prepare_move();
destination_x = 10 * X_HOME_DIR;
prepare_move();
current_x = 0;
destination_x = 0;
feedrate = 0;
if((home_all_axis) || (code_seen('X'))) {
if((X_MIN_PIN > -1 && X_HOME_DIR==-1) || (X_MAX_PIN > -1 && X_HOME_DIR==1)) {
current_x = 0;
destination_x = 1.5 * X_MAX_LENGTH * X_HOME_DIR;
feedrate = min_units_per_second * 60;
prepare_move();
current_x = 0;
destination_x = -1 * X_HOME_DIR;
prepare_move();
destination_x = 10 * X_HOME_DIR;
prepare_move();
current_x = 0;
destination_x = 0;
feedrate = 0;
}
}
if((Y_MIN_PIN > -1 && Y_HOME_DIR==-1) || (Y_MAX_PIN > -1 && Y_HOME_DIR==1)) {
current_y = 0;
destination_y = 1.5 * Y_MAX_LENGTH * Y_HOME_DIR;
feedrate = min_units_per_second * 60;
prepare_move();
current_y = 0;
destination_y = -1 * Y_HOME_DIR;
prepare_move();
destination_y = 10 * Y_HOME_DIR;
prepare_move();
current_y = 0;
destination_y = 0;
feedrate = 0;
if((home_all_axis) || (code_seen('Y'))) {
if((Y_MIN_PIN > -1 && Y_HOME_DIR==-1) || (Y_MAX_PIN > -1 && Y_HOME_DIR==1)) {
current_y = 0;
destination_y = 1.5 * Y_MAX_LENGTH * Y_HOME_DIR;
feedrate = min_units_per_second * 60;
prepare_move();
current_y = 0;
destination_y = -1 * Y_HOME_DIR;
prepare_move();
destination_y = 10 * Y_HOME_DIR;
prepare_move();
current_y = 0;
destination_y = 0;
feedrate = 0;
}
}
if((Z_MIN_PIN > -1 && Z_HOME_DIR==-1) || (Z_MAX_PIN > -1 && Z_HOME_DIR==1)) {
current_z = 0;
destination_z = 1.5 * Z_MAX_LENGTH * Z_HOME_DIR;
feedrate = max_z_feedrate/2;
prepare_move();
current_z = 0;
destination_z = -1 * Z_HOME_DIR;
prepare_move();
destination_z = 10 * Z_HOME_DIR;
prepare_move();
current_z = 0;
destination_z = 0;
feedrate = 0;
if((home_all_axis) || (code_seen('Z'))) {
if((Z_MIN_PIN > -1 && Z_HOME_DIR==-1) || (Z_MAX_PIN > -1 && Z_HOME_DIR==1)) {
current_z = 0;
destination_z = 1.5 * Z_MAX_LENGTH * Z_HOME_DIR;
feedrate = max_z_feedrate/2;
prepare_move();
current_z = 0;
destination_z = -1 * Z_HOME_DIR;
prepare_move();
destination_z = 10 * Z_HOME_DIR;
prepare_move();
current_z = 0;
destination_z = 0;
feedrate = 0;
}
}
feedrate = saved_feedrate;