ManuelW/grbl-LPC-CoreXY
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Bug fix to-do note on soft limit checks. Not yet completed.

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Sonny Jeon 2013-03-01 10:50:36 -07:00
parent 74b2af3c2f
commit b06643a2e0
1 changed files with 6 additions and 3 deletions
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9
motion_control.c
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@ -57,6 +57,9 @@ void mc_line(float *target, float feed_rate, uint8_t invert_feed_rate)
if (bit_istrue(settings.flags,BITFLAG_SOFT_LIMIT_ENABLE)) {
uint8_t i;
for (i=0; i<N_AXIS; i++) {
// TODO: This does not account for homing switches on the other side of travel, meaning that
// the machine travel envelope is flipped or negative, instead of positive. There needs to be
// a fix to this problem before release.
if ((target[i] < 0) || (target[i] > settings.max_travel[i])) {
// TODO: Need to make this more in-line with the rest of the alarm and runtime execution handling.
// Not quite right. Also this should force Grbl to feed hold and exit, rather than stopping and alarm
@ -265,13 +268,13 @@ void mc_go_home()
float target[N_AXIS];
target[X_AXIS] = target[Y_AXIS] = target[Z_AXIS] = settings.homing_pulloff;
if (HOMING_LOCATE_CYCLE & (1<<X_AXIS)) {
if (bit_isfalse(settings.homing_dir_mask,(1<<X_DIRECTION_BIT))) { target[X_AXIS] *= -1; }
if (bit_isfalse(settings.homing_dir_mask,(1<<X_DIRECTION_BIT))) { target[X_AXIS] = -target[X_AXIS]; }
}
if (HOMING_LOCATE_CYCLE & (1<<Y_AXIS)) {
if (bit_isfalse(settings.homing_dir_mask,(1<<Y_DIRECTION_BIT))) { target[Y_AXIS] *= -1; }
if (bit_isfalse(settings.homing_dir_mask,(1<<Y_DIRECTION_BIT))) { target[Y_AXIS] = -target[Y_AXIS]; }
}
if (HOMING_LOCATE_CYCLE & (1<<Z_AXIS)) {
if (bit_isfalse(settings.homing_dir_mask,(1<<Z_DIRECTION_BIT))) { target[Z_AXIS] *= -1; }
if (bit_isfalse(settings.homing_dir_mask,(1<<Z_DIRECTION_BIT))) { target[Z_AXIS] = -target[Z_AXIS]; }
}
mc_line(target, settings.homing_seek_rate, false);
st_cycle_start(); // Move it. Nothing should be in the buffer except this motion.