C++ (Cpp) approach_limit_switch Examples

Example #1

File: limits.c Project: AVRsteffen/grbl

void limits_go_home() {
  st_synchronize();
  // Store the current limit switch state
  uint8_t original_limit_state = LIMIT_PIN;
  approach_limit_switch(false, false, true); // First home the z axis
  approach_limit_switch(true, true, false);  // Then home the x and y axis
  // Xor previous and current limit switch state to determine which were high then but have become 
  // low now. These are the actual installed limit switches.
  uint8_t limit_switches_present = (original_limit_state ^ LIMIT_PIN) & LIMIT_MASK;
  // Now carefully leave the limit switches
  leave_limit_switch(
    limit_switches_present & (1<<X_LIMIT_BIT), 
    limit_switches_present & (1<<Y_LIMIT_BIT),
    limit_switches_present & (1<<Z_LIMIT_BIT));
}

Example #2

File: limits.c Project: HermannLihl/GRBLMILL

void limits_go_home() {
  plan_synchronize();
  // Enable steppers by resetting the stepper disable port
  STEPPERS_ENABLE_PORT |= (1<<STEPPERS_ENABLE_BIT);
  STEPPERS_ENABLE_PORT |= (1<<STEPPERS_ACTIVITY_BIT);
//  STEPPERS_DISABLE_PORT &= ~(1<<STEPPERS_DISABLE_BIT);

  sys.position[X_AXIS]=0;
  sys.position[Y_AXIS]=0;
  sys.position[Z_AXIS]=0;

#ifdef Z_LIMIT_PRESENT
  approach_limit_switch(false, false, true); // First home the z axis
  delay_ms(50);
  // Now carefully leave the limit switches
  leave_limit_switch(false, false, true);
  delay_ms(50);
#endif


#ifdef Y_HOME_FIRST

#ifdef Y_LIMIT_PRESENT
  approach_limit_switch(false, true, false); // Home Y axis
  delay_ms(50);
  leave_limit_switch(false, true, false);
  delay_ms(50);
#endif
#ifdef X_LIMIT_PRESENT
  approach_limit_switch(true, false, false); // Home X axis
  delay_ms(50);
  leave_limit_switch(true, false, false);
  delay_ms(50);
#endif

#else

#ifdef X_LIMIT_PRESENT
  approach_limit_switch(true, false, false); // Home X axis
  delay_ms(50);
  leave_limit_switch(true, false, false);
  delay_ms(50);
#endif
#ifdef Y_LIMIT_PRESENT
  approach_limit_switch(false, true, false); // Home Y axis
  delay_ms(50);
  leave_limit_switch(false, true, false);
  delay_ms(50);
#endif

#endif


  // Disable steppers by setting stepper disable
  delay_ms(50);
  STEPPERS_ENABLE_PORT &= ~(1<<STEPPERS_ENABLE_BIT);
  STEPPERS_ENABLE_PORT &= ~(1<<STEPPERS_ACTIVITY_BIT);
//  STEPPERS_DISABLE_PORT |= (1<<STEPPERS_DISABLE_BIT);


// Hardware-Zähler zurücksetzen
  st_counter_null();

}

Example #3

File: limits.c Project: mangtronix/LasaurGrbl

void limits_go_home() {
  st_synchronize();
  // home the x and y axis
  approach_limit_switch(true, true, false);
  leave_limit_switch(true, true, false);
}