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homing

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PROFERIS - Mi³osz Stocki
2026-07-08 16:27:03 +02:00
parent 51b8ccd828
commit b0b1e4384e
1 changed files with 12 additions and 12 deletions
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src/main.cpp
+12 -12
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@@ -274,12 +274,12 @@ void loop() {
if (homingState == HOME_ALL_PHASE1) { if (homingState == HOME_ALL_PHASE1) {
if (stepper1.distanceToGo() == 0 && stepper2.distanceToGo() == 0) { if (stepper1.distanceToGo() == 0 && stepper2.distanceToGo() == 0) {
stepper1.setCurrentPosition(474); stepper1.setCurrentPosition(1024);
stepper2.setCurrentPosition(530); stepper2.setCurrentPosition(0);
stepper1.moveTo(1024); stepper1.moveTo(1024);
stepper2.moveTo(0); stepper2.moveTo(0);
homingState = HOME_ALL_PHASE2; homingState = HOME_ALL_PHASE2;
Serial.println("[SYS] Homing all: Phase 2 (Move to Outward Home)"); Serial.println("[SYS] Homing all: Phase 2 (Hold Outward Home)");
} }
} else if (homingState == HOME_ALL_PHASE2) { } else if (homingState == HOME_ALL_PHASE2) {
if (stepper1.distanceToGo() == 0 && stepper2.distanceToGo() == 0) { if (stepper1.distanceToGo() == 0 && stepper2.distanceToGo() == 0) {
@@ -295,7 +295,7 @@ void loop() {
} }
} else if (homingState == HOME_1_PHASE1) { } else if (homingState == HOME_1_PHASE1) {
if (stepper1.distanceToGo() == 0) { if (stepper1.distanceToGo() == 0) {
stepper1.setCurrentPosition(474); stepper1.setCurrentPosition(1024);
stepper1.moveTo(1024); stepper1.moveTo(1024);
homingState = HOME_1_PHASE2; homingState = HOME_1_PHASE2;
} }
@@ -308,7 +308,7 @@ void loop() {
} }
} else if (homingState == HOME_2_PHASE1) { } else if (homingState == HOME_2_PHASE1) {
if (stepper2.distanceToGo() == 0) { if (stepper2.distanceToGo() == 0) {
stepper2.setCurrentPosition(530); stepper2.setCurrentPosition(0);
stepper2.moveTo(0); stepper2.moveTo(0);
homingState = HOME_2_PHASE2; homingState = HOME_2_PHASE2;
} }
@@ -335,28 +335,28 @@ void loop() {
// ─── Homing Routines ────────────────────────────────────────────── // ─── Homing Routines ──────────────────────────────────────────────
void performHomingAll() { void performHomingAll() {
Serial.println("[SYS] Homing all: Phase 1 (Stall UP)"); Serial.println("[SYS] Homing all: Phase 1 (Stall OUTWARD)");
stepper1.setMaxSpeed(1500); stepper1.setMaxSpeed(1500);
stepper2.setMaxSpeed(1500); stepper2.setMaxSpeed(1500);
stepper1.setAcceleration(1500); stepper1.setAcceleration(1500);
stepper2.setAcceleration(1500); stepper2.setAcceleration(1500);
stepper1.move(-1200); stepper1.move(2000);
stepper2.move(1200); stepper2.move(-2000);
homingState = HOME_ALL_PHASE1; homingState = HOME_ALL_PHASE1;
} }
void performHoming1() { void performHoming1() {
Serial.println("[S1] Homing Motor 1: Phase 1 (Stall UP)"); Serial.println("[S1] Homing Motor 1: Phase 1 (Stall OUTWARD)");
stepper1.setMaxSpeed(1500); stepper1.setMaxSpeed(1500);
stepper1.setAcceleration(1500); stepper1.setAcceleration(1500);
stepper1.move(-1200); stepper1.move(2000);
homingState = HOME_1_PHASE1; homingState = HOME_1_PHASE1;
} }
void performHoming2() { void performHoming2() {
Serial.println("[S2] Homing Motor 2: Phase 1 (Stall UP)"); Serial.println("[S2] Homing Motor 2: Phase 1 (Stall OUTWARD)");
stepper2.setMaxSpeed(1500); stepper2.setMaxSpeed(1500);
stepper2.setAcceleration(1500); stepper2.setAcceleration(1500);
stepper2.move(1200); stepper2.move(-2000);
homingState = HOME_2_PHASE1; homingState = HOME_2_PHASE1;
} }