/// find Y MAX endstop
void home_y_positive() {
queue_wait();
#if defined Y_MAX_PIN
uint8_t denoise_count = 0;
// home Y
y_enable();
// hit home hard
y_direction(1);
while (denoise_count < 8) {
// denoise
if (y_max())
denoise_count++;
else
denoise_count = 0;
// step
y_step();
delay(5);
unstep();
// wait until neyt step time
delay((uint32_t) (60.0 * 1000000.0 / STEPS_PER_MM_Y / ((float) MAXIMUM_FEEDRATE_Y)));
}
denoise_count = 0;
// back off slowly
y_direction(0);
while (y_max() != 0) {
// step
y_step();
delay(5);
unstep();
// wait until next step time
delay((uint32_t) (60.0 * 1000000.0 / STEPS_PER_MM_Y / ((float) SEARCH_FEEDRATE_Y)));
}
// set Y home
TARGET t = {0, 0, 0, 0, 0};
// set position to MAX
startpoint.Y = current_position.Y = (int32_t) (Y_MAX * STEPS_PER_MM_Y);
// go to zero
t.F = MAXIMUM_FEEDRATE_Y;
enqueue(&t);
#endif
}
/// fund Y MIN endstop
void home_y_negative() {
queue_wait();
#if defined Y_MIN_PIN
uint8_t denoise_count = 0;
// home Y
y_enable();
// hit home hard
y_direction(0);
while (denoise_count < 8) {
// denoise
if (y_min())
denoise_count++;
else
denoise_count = 0;
// step
y_step();
delay(5);
unstep();
// wait until neyt step time
delay((uint32_t) (60.0 * 1000000.0 / STEPS_PER_MM_Y / ((float) MAXIMUM_FEEDRATE_Y)));
}
denoise_count = 0;
// back off slowly
y_direction(1);
while (y_min() != 0) {
// step
y_step();
delay(5);
unstep();
// wait until next step time
delay((uint32_t) (60.0 * 1000000.0 / STEPS_PER_MM_Y / ((float) SEARCH_FEEDRATE_Y)));
}
// set Y home
startpoint.Y = current_position.Y = 0;
#endif
}
void defiSite::print(FILE* f) const {
fprintf(f, "Site '%p' %s\n", name(),
orientStr());
fprintf(f, " DO X %g %g BY %g\n",
x_orig(),
x_num(),
x_step());
fprintf(f, " DO Y %g %g BY %g\n",
y_orig(),
y_num(),
y_step());
}
