void CardReader::printingHasFinished()
{
st_synchronize();
quickStop();
file.close();
sdprinting = false;
if(SD_FINISHED_STEPPERRELEASE)
{
//finishAndDisableSteppers();
enquecommand_P(PSTR(SD_FINISHED_RELEASECOMMAND));
}
autotempShutdown();
}
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));
}
void spindle_run(int direction, uint32_t rpm)
{
if (direction != current_direction) {
st_synchronize();
if(direction) {
if(direction > 0) {
SPINDLE_DIRECTION_PORT &= ~(1<<SPINDLE_DIRECTION_BIT);
} else {
SPINDLE_DIRECTION_PORT |= 1<<SPINDLE_DIRECTION_BIT;
}
SPINDLE_ENABLE_PORT |= 1<<SPINDLE_ENABLE_BIT;
} else {
SPINDLE_ENABLE_PORT &= ~(1<<SPINDLE_ENABLE_BIT);
}
current_direction = direction;
}
}
void CardReader::printingHasFinished() {
st_synchronize();
if (file_subcall_ctr > 0) { // Heading up to a parent file that called current as a procedure.
file.close();
file_subcall_ctr--;
openFile(filenames[file_subcall_ctr], true, true);
setIndex(filespos[file_subcall_ctr]);
startFileprint();
} else {
file.close();
sdprinting = false;
if (SD_FINISHED_STEPPERRELEASE) {
//finishAndDisableSteppers();
enqueuecommands_P(PSTR(SD_FINISHED_RELEASECOMMAND));
}
autotempShutdown();
}
}
void FirmwareTest() {
ECHO_EM("---------- FIRMWARE TEST --------------");
ECHO_EM("--------- by MarlinKimbra -------------");
ECHO_EV(MSG_FWTEST_01);
ECHO_EV(MSG_FWTEST_02);
ECHO_EV(MSG_FWTEST_YES_NO);
serial_answer = ' ';
while (serial_answer!='y' && serial_answer!='Y' && serial_answer!='n' && serial_answer!='N') {
serial_answer = MYSERIAL.read();
}
if (serial_answer=='y' || serial_answer=='Y') {
ECHO_EV(MSG_FWTEST_03);
ECHO_EM(" ");
ECHO_EM("***** ENDSTOP X *****");
#if PIN_EXISTS(X_MIN) && (X_HOME_DIR == -1)
if (!READ(X_MIN_PIN)^X_MIN_ENDSTOP_INVERTING) {
ECHO_M("MIN ENDSTOP X: ");
ECHO_EV(MSG_ENDSTOP_OPEN);
}
else {
ECHO_M("X ENDSTOP ");
ECHO_EM(MSG_FWTEST_ERROR);
ECHO_M(MSG_FWTEST_INVERT);
ECHO_M("#define X_MIN_ENDSTOP_LOGIC ");
ECHO_M(MSG_FWTEST_INTO);
#if MECH(CARTESIAN)
ECHO_EM("Configuration_Cartesian.h");
#elif MECH(COREXY)
ECHO_EM("Configuration_Core.h");
#elif MECH(COREXZ)
ECHO_EM("Configuration_Core.h");
#elif MECH(DELTA)
ECHO_EM("Configuration_Delta.h");
#elif MECH(SCARA)
ECHO_EM("Configuration_Scara.h");
#endif
return;
}
ECHO_V(MSG_FWTEST_PRESS);
ECHO_EM("X");
ECHO_EV(MSG_FWTEST_YES);
serial_answer = ' ';
while (serial_answer!='y' && serial_answer!='Y' && !(READ(X_MIN_PIN)^X_MIN_ENDSTOP_INVERTING)) {
serial_answer = MYSERIAL.read();
}
if (READ(X_MIN_PIN)^X_MIN_ENDSTOP_INVERTING) {
ECHO_M("MIN ENDSTOP X: ");
ECHO_EV(MSG_ENDSTOP_HIT);
}
else {
ECHO_M("X ");
ECHO_EV(MSG_FWTEST_ENDSTOP_ERR);
return;
}
#elif PIN_EXISTS(X_MAX) && X_HOME_DIR == 1
if (!READ(X_MAX_PIN)^X_MAX_ENDSTOP_INVERTING) {
ECHO_M("MAX ENDSTOP X: ");
ECHO_EV(MSG_ENDSTOP_OPEN);
}
else {
ECHO_M("X ENDSTOP ");
ECHO_EM(MSG_FWTEST_ERROR);
ECHO_M(MSG_FWTEST_INVERT);
ECHO_M("#define X_MAX_ENDSTOP_LOGIC ");
ECHO_M(MSG_FWTEST_INTO);
#if MECH(CARTESIAN)
ECHO_EM("Configuration_Cartesian.h");
#elif MECH(COREXY)
ECHO_EM("Configuration_Core.h");
#elif MECH(COREXZ)
ECHO_EM("Configuration_Core.h");
#elif MECH(DELTA)
ECHO_EM("Configuration_Delta.h");
#elif MECH(SCARA)
ECHO_EM("Configuration_Scara.h");
#endif
return;
}
ECHO_V(MSG_FWTEST_PRESS);
ECHO_EM("X");
ECHO_EV(MSG_FWTEST_YES);
serial_answer = ' ';
while (serial_answer!='y' && serial_answer!='Y' && !(READ(X_MAX_PIN)^X_MAX_ENDSTOP_INVERTING)) {
serial_answer = MYSERIAL.read();
}
if (READ(X_MAX_PIN)^X_MAX_ENDSTOP_INVERTING) {
ECHO_M("MAX ENDSTOP X: ");
ECHO_EV(MSG_ENDSTOP_HIT);
}
else {
ECHO_M("X ");
ECHO_EV(MSG_FWTEST_ENDSTOP_ERR);
return;
}
#elif X_HOME_DIR == -1
ECHO_M(MSG_FWTEST_ERROR);
ECHO_M("!!! X_MIN_PIN ");
ECHO_EM(MSG_FWTEST_NDEF);
return;
#elif X_HOME_DIR == 1
ECHO_M(MSG_FWTEST_ERROR);
ECHO_M("!!! X_MAX_PIN ");
ECHO_EM(MSG_FWTEST_NDEF);
return;
#endif
ECHO_EM(" ");
ECHO_EM("***** ENDSTOP Y *****");
#if PIN_EXISTS(Y_MIN) && Y_HOME_DIR == -1
if (!READ(Y_MIN_PIN)^Y_MIN_ENDSTOP_INVERTING) {
ECHO_M("MIN ENDSTOP Y: ");
ECHO_EV(MSG_ENDSTOP_OPEN);
}
else {
ECHO_M("Y ENDSTOP ");
ECHO_EM(MSG_FWTEST_ERROR);
ECHO_M(MSG_FWTEST_INVERT);
ECHO_M("#define Y_MIN_ENDSTOP_LOGIC ");
ECHO_M(MSG_FWTEST_INTO);
#if MECH(CARTESIAN)
ECHO_EM("Configuration_Cartesian.h");
#elif MECH(COREXY)
ECHO_EM("Configuration_Core.h");
#elif MECH(COREXZ)
ECHO_EM("Configuration_Core.h");
#elif MECH(DELTA)
ECHO_EM("Configuration_Delta.h");
#elif MECH(SCARA)
ECHO_EM("Configuration_Scara.h");
#endif
return;
}
ECHO_V(MSG_FWTEST_PRESS);
ECHO_EM("Y");
ECHO_EV(MSG_FWTEST_YES);
serial_answer = ' ';
while (serial_answer!='y' && serial_answer!='Y' && !(READ(Y_MIN_PIN)^Y_MIN_ENDSTOP_INVERTING)) {
serial_answer = MYSERIAL.read();
}
if (READ(Y_MIN_PIN)^Y_MIN_ENDSTOP_INVERTING) {
ECHO_M("MIN ENDSTOP Y: ");
ECHO_EV(MSG_ENDSTOP_HIT);
}
else {
ECHO_M("Y ");
ECHO_EV(MSG_FWTEST_ENDSTOP_ERR);
return;
}
#elif PIN_EXISTS(Y_MAX) && Y_HOME_DIR == 1
if (!READ(Y_MAX_PIN)^Y_MAX_ENDSTOP_INVERTING) {
ECHO_M("MAX ENDSTOP Y: ");
ECHO_EV(MSG_ENDSTOP_OPEN);
}
else {
ECHO_M("Y ENDSTOP ");
ECHO_EM(MSG_FWTEST_ERROR);
ECHO_M(MSG_FWTEST_INVERT);
ECHO_M("#define Y_MAX_ENDSTOP_LOGIC ");
ECHO_M(MSG_FWTEST_INTO);
#if MECH(CARTESIAN)
ECHO_EM("Configuration_Cartesian.h");
#elif MECH(COREXY)
ECHO_EM("Configuration_Core.h");
#elif MECH(COREXZ)
ECHO_EM("Configuration_Core.h");
#elif MECH(DELTA)
ECHO_EM("Configuration_Delta.h");
#elif MECH(SCARA)
ECHO_EM("Configuration_Scara.h");
#endif
return;
}
ECHO_V(MSG_FWTEST_PRESS);
ECHO_EM("Y");
ECHO_EV(MSG_FWTEST_YES);
serial_answer = ' ';
while (serial_answer!='y' && serial_answer!='Y' && !(READ(Y_MAX_PIN)^Y_MAX_ENDSTOP_INVERTING)) {
serial_answer = MYSERIAL.read();
}
if (READ(Y_MAX_PIN)^Y_MAX_ENDSTOP_INVERTING) {
ECHO_M("MAX ENDSTOP Y: ");
ECHO_EV(MSG_ENDSTOP_HIT);
}
else {
ECHO_M("Y ");
ECHO_EV(MSG_FWTEST_ENDSTOP_ERR);
return;
}
#elif Y_HOME_DIR == -1
ECHO_M(MSG_FWTEST_ERROR);
ECHO_M("!!! Y_MIN_PIN ");
ECHO_EM(MSG_FWTEST_NDEF);
return;
#elif Y_HOME_DIR == 1
ECHO_M(MSG_FWTEST_ERROR);
ECHO_M("!!! Y_MAX_PIN ");
ECHO_EM(MSG_FWTEST_NDEF);
return;
#endif
ECHO_EM(" ");
ECHO_EM("***** ENDSTOP Z *****");
#if PIN_EXISTS(Z_MIN) && Z_HOME_DIR == -1
if (!READ(Z_MIN_PIN)^Z_MIN_ENDSTOP_INVERTING) {
ECHO_M("MIN ENDSTOP Z: ");
ECHO_EV(MSG_ENDSTOP_OPEN);
}
else {
ECHO_M("Z ENDSTOP ");
ECHO_EM(MSG_FWTEST_ERROR);
ECHO_M(MSG_FWTEST_INVERT);
ECHO_M("#define Z_MIN_ENDSTOP_LOGIC ");
ECHO_M(MSG_FWTEST_INTO);
#if MECH(CARTESIAN)
ECHO_EM("Configuration_Cartesian.h");
#elif MECH(COREXY)
ECHO_EM("Configuration_Core.h");
#elif MECH(COREXZ)
ECHO_EM("Configuration_Core.h");
#elif MECH(DELTA)
ECHO_EM("Configuration_Delta.h");
#elif MECH(SCARA)
ECHO_EM("Configuration_Scara.h");
#endif
return;
}
ECHO_V(MSG_FWTEST_PRESS);
ECHO_EM("Z");
ECHO_EV(MSG_FWTEST_YES);
serial_answer = ' ';
while (serial_answer!='y' && serial_answer!='Y' && !(READ(Z_MIN_PIN)^Z_MIN_ENDSTOP_INVERTING)) {
serial_answer = MYSERIAL.read();
}
if (READ(Z_MIN_PIN)^Z_MIN_ENDSTOP_INVERTING) {
ECHO_M("MIN ENDSTOP Z: ");
ECHO_EV(MSG_ENDSTOP_HIT);
}
else {
ECHO_M("Z ");
ECHO_EV(MSG_FWTEST_ENDSTOP_ERR);
return;
}
#elif PIN_EXISTS(Z_MAX) && Z_HOME_DIR == 1
if (!READ(Z_MAX_PIN)^Z_MAX_ENDSTOP_INVERTING) {
ECHO_M("MAX ENDSTOP Z: ");
ECHO_EV(MSG_ENDSTOP_OPEN);
}
else {
ECHO_M("Z ENDSTOP ");
ECHO_EM(MSG_FWTEST_ERROR);
ECHO_M(MSG_FWTEST_INVERT);
ECHO_M("#define Z_MAX_ENDSTOP_LOGIC ");
ECHO_M(MSG_FWTEST_INTO);
#if MECH(CARTESIAN)
ECHO_EM("Configuration_Cartesian.h");
#elif MECH(COREXY)
ECHO_EM("Configuration_Core.h");
#elif MECH(COREXZ)
ECHO_EM("Configuration_Core.h");
#elif MECH(DELTA)
ECHO_EM("Configuration_Delta.h");
#elif MECH(SCARA)
ECHO_EM("Configuration_Scara.h");
#endif
return;
}
ECHO_V(MSG_FWTEST_PRESS);
ECHO_EM("Z");
ECHO_EV(MSG_FWTEST_YES);
serial_answer = ' ';
while (serial_answer!='y' && serial_answer!='Y' && !(READ(Z_MAX_PIN)^Z_MAX_ENDSTOP_INVERTING)) {
serial_answer = MYSERIAL.read();
}
if (READ(Z_MAX_PIN)^Z_MAX_ENDSTOP_INVERTING) {
ECHO_M("MAX ENDSTOP Z: ");
ECHO_EV(MSG_ENDSTOP_HIT);
}
else {
ECHO_M("Z ");
ECHO_EV(MSG_FWTEST_ENDSTOP_ERR);
return;
}
#elif Z_HOME_DIR == -1
ECHO_M(MSG_FWTEST_ERROR);
ECHO_M("!!! Z_MIN_PIN ");
ECHO_EM(MSG_FWTEST_NDEF);
return;
#elif Z_HOME_DIR == 1
ECHO_M(MSG_FWTEST_ERROR);
ECHO_M("!!! Z_MAX_PIN ");
ECHO_EM(MSG_FWTEST_NDEF);
return;
#endif
ECHO_EM("ENDSTOP ");
ECHO_M(MSG_FWTEST_OK);
ECHO_EM(" ");
}
#if HAS(POWER_SWITCH)
SET_OUTPUT(PS_ON_PIN);
WRITE(PS_ON_PIN, PS_ON_AWAKE);
#endif
// Reset position to 0
st_synchronize();
for (int8_t i = 0; i < NUM_AXIS; i++) current_position[i] = 0;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
ECHO_EM("***** TEST MOTOR *****");
ECHO_EV(MSG_FWTEST_ATTENTION);
ECHO_EV(MSG_FWTEST_YES);
serial_answer = ' ';
while (serial_answer!='y' && serial_answer!='Y') {
serial_answer = MYSERIAL.read();
}
ECHO_EV(MSG_FWTEST_04);
ECHO_EM(" ");
ECHO_EM("***** MOTOR X *****");
destination[X_AXIS] = 10;
prepare_move();
st_synchronize();
ECHO_EV(MSG_FWTEST_XAXIS);
ECHO_EV(MSG_FWTEST_YES_NO);
serial_answer = ' ';
while (serial_answer!='y' && serial_answer!='Y' && serial_answer!='n' && serial_answer!='N') {
serial_answer = MYSERIAL.read();
}
if (serial_answer=='y' || serial_answer=='Y') {
ECHO_EM("MOTOR X ");
ECHO_M(MSG_FWTEST_OK);
}
else {
ECHO_M(MSG_FWTEST_INVERT);
ECHO_M("#define INVERT_X_DIR ");
ECHO_M(MSG_FWTEST_INTO);
#if MECH(CARTESIAN)
ECHO_EM("Configuration_Cartesian.h");
#elif MECH(COREXY)
ECHO_EM("Configuration_Core.h");
#elif MECH(COREXZ)
ECHO_EM("Configuration_Core.h");
#elif MECH(DELTA)
ECHO_EM("Configuration_Delta.h");
#elif MECH(SCARA)
ECHO_EM("Configuration_Scara.h");
#endif
return;
}
ECHO_EM(" ");
ECHO_EM("***** MOTOR Y *****");
destination[Y_AXIS] = 10;
prepare_move();
st_synchronize();
ECHO_EV(MSG_FWTEST_YAXIS);
ECHO_EV(MSG_FWTEST_YES_NO);
serial_answer = ' ';
while (serial_answer!='y' && serial_answer!='Y' && serial_answer!='n' && serial_answer!='N') {
serial_answer = MYSERIAL.read();
}
if (serial_answer=='y' || serial_answer=='Y') {
ECHO_EM("MOTOR Y ");
ECHO_M(MSG_FWTEST_OK);
}
else {
ECHO_M(MSG_FWTEST_INVERT);
ECHO_M("#define INVERT_Y_DIR ");
ECHO_M(MSG_FWTEST_INTO);
#if MECH(CARTESIAN)
ECHO_EM("Configuration_Cartesian.h");
#elif MECH(COREXY)
ECHO_EM("Configuration_Core.h");
#elif MECH(COREXZ)
ECHO_EM("Configuration_Core.h");
#elif MECH(DELTA)
ECHO_EM("Configuration_Delta.h");
#elif MECH(SCARA)
ECHO_EM("Configuration_Scara.h");
#endif
return;
}
ECHO_EM(" ");
ECHO_EM("***** MOTOR Z *****");
destination[Z_AXIS] = 10;
prepare_move();
st_synchronize();
ECHO_EV(MSG_FWTEST_ZAXIS);
ECHO_EV(MSG_FWTEST_YES_NO);
serial_answer = ' ';
while (serial_answer!='y' && serial_answer!='Y' && serial_answer!='n' && serial_answer!='N') {
serial_answer = MYSERIAL.read();
}
if (serial_answer=='y' || serial_answer=='Y') {
ECHO_EM("MOTOR Z ");
ECHO_M(MSG_FWTEST_OK);
}
else {
ECHO_M(MSG_FWTEST_INVERT);
ECHO_M("#define INVERT_Z_DIR ");
ECHO_M(MSG_FWTEST_INTO);
#if MECH(CARTESIAN)
ECHO_EM("Configuration_Cartesian.h");
#elif MECH(COREXY)
ECHO_EM("Configuration_Core.h");
#elif MECH(COREXZ)
ECHO_EM("Configuration_Core.h");
#elif MECH(DELTA)
ECHO_EM("Configuration_Delta.h");
#elif MECH(SCARA)
ECHO_EM("Configuration_Scara.h");
#endif
return;
}
ECHO_EM("MOTOR ");
ECHO_M(MSG_FWTEST_OK);
ECHO_EM(" ");
ECHO_V(MSG_FWTEST_END);
}
void plan_set_acceleration_manager_enabled(int enabled) {
if ((!!acceleration_manager_enabled) != (!!enabled)) {
st_synchronize();
acceleration_manager_enabled = !!enabled;
}
}
float Probe_Bed(float x_pos, float y_pos, int n)
{
//returns Probed Z average height
float ProbeDepth[n];
float ProbeDepthAvg=0;
//force bed heater off for probing
int save_bed_targ = target_raw_bed;
target_raw_bed = 0;
WRITE(HEATER_BED_PIN,LOW);
if (Z_HOME_DIR==-1)
{
//int probe_flag =1;
float meas = 0;
int fails = 0;
saved_feedrate = feedrate;
saved_feedmultiply = feedmultiply;
feedmultiply = 100;
//previous_millis_cmd = millis();
//Move to probe position
if (x_pos >= 0) destination[X_AXIS]=x_pos;
if (y_pos >= 0) destination[Y_AXIS]=y_pos;
//destination[Z_AXIS]=current_position[Z_AXIS];
destination[Z_AXIS]=Z_HOME_RETRACT_MM;
feedrate = 9000;
prepare_move();
enable_endstops(true);
SERIAL_ECHO("PRE-PROBE current_position[Z_AXIS]=");SERIAL_ECHOLN(current_position[Z_AXIS]);
SERIAL_ECHOLN("Ready to probe...");
//Probe bed n times
//*******************************************************************************************Bed Loop*************************************
for(int8_t i=0; i < n ; i++)
{
//int z = 0;
//fast probe
//plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[Z_AXIS] = 1.1 * Z_MAX_LENGTH * Z_HOME_DIR;
feedrate = homing_feedrate[Z_AXIS];
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
st_synchronize();
//feedrate = 0.0;
SERIAL_ECHO("current_position[Z_AXIS]=");SERIAL_ECHOLN(current_position[Z_AXIS]);
if(endstop_z_hit == true)
{
SERIAL_ECHO("endstops_trigsteps[Z_AXIS]=");SERIAL_ECHOLN(endstops_trigsteps[Z_AXIS]);
ProbeDepth[i]= endstops_trigsteps[Z_AXIS] / axis_steps_per_unit[Z_AXIS];
meas = ProbeDepth[i];
SERIAL_ECHO("ProbeDepth[");SERIAL_ECHO(i);SERIAL_ECHO("]=");SERIAL_ECHOLN(ProbeDepth[i]);
//*************************************************************************************************************
if (i > 0 ) //Second probe has happened so compare results
{
if (abs(ProbeDepth[i] - ProbeDepth[i - 1]) > .05)
{ //keep going until readings match to avoid sticky bed
SERIAL_ECHO("Probing again: ");
SERIAL_ECHO(ProbeDepth[i]); SERIAL_ECHO(" - "); SERIAL_ECHO(ProbeDepth[i - 1]);SERIAL_ECHO(" = "); SERIAL_ECHOLN(abs(ProbeDepth[i] - ProbeDepth[i - 1]));
meas = ProbeDepth[i];
i--; i--; //Throw out both that don't match because we don't know which one is accurate
if(fails++ > 4) break;
}
}
}else{
SERIAL_ECHOLN("Probe not triggered.");
i=n-1;
}
//**************************************************************************************************************************************************
//fast move clear
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], meas, current_position[E_AXIS]);
destination[Z_AXIS] = Z_HOME_RETRACT_MM;
feedrate = fast_home_feedrate[Z_AXIS];
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
st_synchronize();
//check z stop isn't still triggered
if ( READ(X_MIN_PIN) != X_ENDSTOPS_INVERTING )
{
SERIAL_ECHOLN("Poking Stuck Bed:");
destination[Z_AXIS] = -1; prepare_move();
destination[Z_AXIS] = Z_HOME_RETRACT_MM; prepare_move();
st_synchronize();
i--; //Throw out this meaningless measurement
}
feedrate = 0;
} //end probe loop
#ifdef ENDSTOPS_ONLY_FOR_HOMING
enable_endstops(false);
#endif
feedrate = saved_feedrate;
feedmultiply = saved_feedmultiply;
//previous_millis_cmd = millis();
endstops_hit_on_purpose();
}
for(int8_t i=0;i<n;i++)
{
ProbeDepthAvg += ProbeDepth[i];
}
ProbeDepthAvg /= n;
SERIAL_ECHO("Probed Z="); SERIAL_ECHOLN(ProbeDepthAvg);
SERIAL_ECHO("RAW current_position[Z_AXIS]=");SERIAL_ECHOLN(current_position[Z_AXIS]);
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], Z_HOME_RETRACT_MM, current_position[E_AXIS]);
current_position[Z_AXIS] = Z_HOME_RETRACT_MM;
target_raw_bed = save_bed_targ;
return ProbeDepthAvg;
}
void limits_go_home() {
st_synchronize();
// home the x and y axis
approach_limit_switch(true, true, false);
leave_limit_switch(true, true, false);
}