homing 3 axis

lib/maincontroller/homing.cpp

@@ -32,12 +32,15 @@ void homingController::start() {
 }
 
 bool homingController::nextAxis() {
-    homingSequenceIndex++;
-    return selectAxis();
+    if (homingSequenceIndex < theMachineProperties.nmbrHomingAxis) {
+        homingSequenceIndex++;
+        return selectAxis();
+    }
+    return false;
 }
 
 bool homingController::selectAxis() {
-    while (homingSequenceIndex < nmbrAxis) {
+    while (homingSequenceIndex < theMachineProperties.nmbrHomingAxis) {
         currentHomingAxis      = theMachineProperties.homingSequence[homingSequenceIndex];
         currentHomingAxisIndex = static_cast<uint32_t>(currentHomingAxis);
         if (static_cast<uint32_t>(currentHomingAxis) < nmbrAxis) {

lib/maincontroller/homing.md

@@ -1,17 +1,10 @@
 Next Steps :
-* nextAxis should skip axis which can't home
-
-
-
-
-
+* add timeouts in case motors are not running
 Todo : think about how to handle errors
 * not reaching the closing or opening of a switch (in time / in space)
 * receiving events on other switches than the one monitoring
-
 
-Todo : homing uses gcode to generate motions, however, it should not change the modal state of the machine. So we must save the modal state and afterwards restore it..
 
-ToDo : we need to capture the position on the opening of the switch as the ZERO
+TODO : we need to capture the position on the opening of the switch as the ZERO
 
 

lib_target/cnc3axis/general/machineproperties.h

@@ -47,9 +47,9 @@ class machineProperties {
     } motors;
 
     struct Limits {
-        bool hasLimitsMax[nmbrAxis]{true, false, true};         // limit switches towards the positive direction of the Axis
+        bool hasLimitsMax[nmbrAxis]{true, true, true};         // limit switches towards the positive direction of the Axis
         uint32_t limitMaxIndex[nmbrAxis]{1, 2, 0};              // index into myInputs[] telling which input is the matching limit switch
-        bool hasLimitsMin[nmbrAxis]{false, true, false};        // limit switches towards the negative direction of the Axis
+        bool hasLimitsMin[nmbrAxis]{false, false, false};        // limit switches towards the negative direction of the Axis
         uint32_t limitMinIndex[nmbrAxis]{0, 2, 4};              // index into myInputs[] telling which input is the matching limit switch
         float maxLimitswitchTravel{2.0F};                       // [mm]
     } limits;
@@ -71,8 +71,9 @@ class machineProperties {
     float vHoming{10};           // faster homing speed, towards switch closing
     float vHomingSlow{1};        // slower homing, towards opening limitswitch
 
-    axis homingSequence[nmbrAxis]{axis::Z, axis::X, axis::Y};        // in which sequence do we want to home axis.
-    bool homingDirection[nmbrAxis]{true, false, true};               // in which direction do we want to home : true = positive, false = negative
+    static constexpr uint32_t nmbrHomingAxis{3U};                    // how many axis do have homing
+    axis homingSequence[nmbrHomingAxis]{axis::Z, axis::X, axis::Y};        // in which sequence do we want to home axis.
+    bool homingDirection[nmbrAxis]{true, true, true};                // in which direction do we want to home : true = positive, false = negative
     double homingOffset[nmbrAxis]{3.0, 3.0, 3.0};                    // after homing, what distance from the limitswitches do we set the machine zero. Needs to be positive
 
     // static constexpr float t = limits.maxLimitswitchTravel * 6.0 / motors.jMax;

src/cnc3axis/main.cpp

@@ -70,8 +70,8 @@ inputs allSwitchAndButtons;
 debouncedInput myInputs[nmbrInputs] = {
     debouncedInput(event::limitSwitchZMaxClosed, event::limitSwitchZMaxOpened),
     debouncedInput(event::limitSwitchXMaxClosed, event::limitSwitchXMaxOpened),
-    debouncedInput(event::limitSwitchYMinClosed, event::limitSwitchYMinOpened),
     debouncedInput(event::limitSwitchYMaxClosed, event::limitSwitchYMaxOpened),
+    debouncedInput(event::limitSwitchYMinClosed, event::limitSwitchYMinOpened),
     debouncedInput(event::limitSwitchZMinClosed, event::limitSwitchZMinOpened),
     debouncedInput(event::limitSwitchXMinClosed, event::limitSwitchXMinOpened),
     debouncedInput(event::emergencyStopButtonPressed, event::emergencyStopButtonReleased),