void stepperMoveZero()
{
if (!stepperStepNumber)
{
stepperStep(stepperStepsPerRotation - stepperStepNumber);
}
}
/*************************************************************************
Author: Josiah Snarr
Date: April 11, 2015
stepperHome finds the stepper limits on the platform, and centers the
stepper at the midpoint between them
*************************************************************************/
void stepperHome(void)
{
unsigned int midpoint;
//Delay stops it from going "ttttttzzzhhggggghhghhzzzzzttttt"
msDelay(25);
//Go fully left
while(IS_CLR(STEP_SWI_PORT, SWI_LEFT))
{
stepperStep();
msDelay(2);
}
//All the way left, 0-position, switch direction
currStep = 0;
SWI_DIR(direction);
//Go all the way right
while(IS_CLR(STEP_SWI_PORT, SWI_RIGHT))
{
stepperStep();
msDelay(2);
}
//All the way right, number of steps is current step, find midpoint and switch direction
numSteps = currStep;
midpoint = currStep/2;
SWI_DIR(direction);
//Move to midpoint
while(currStep != midpoint)
{
stepperStep();
msDelay(2);
}
}
void stepperMoveHome()
{
stepperStep(stepperPosition * -1);
}
