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Fixed soft limits when the origin is in the middle.

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HOME_POS is now always where the endstop is and can be outside the limits.
The limits are now defined by MIN_POS and MAX_POS rather than HOME_POS and MAX_LENGTH.
The Z is axis now homed first if direction is away from the bed.

Saguinololu limit pins change from MIN to MAX according to the homing direction.
master
Chris Palmer 14 years ago committed by Erik van der Zalm
parent 686011a548
commit 538189cc19
3 changed files with 51 additions and 19 deletions
Show Stats Download Patch File Download Diff File

14
Marlin/Configuration.h
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@ -187,9 +187,17 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
#define min_software_endstops true //If true, axis won't move to coordinates less than HOME_POS.
#define max_software_endstops true //If true, axis won't move to coordinates greater than the defined lengths below.
#define X_MAX_LENGTH 205
#define Y_MAX_LENGTH 205
#define Z_MAX_LENGTH 200
// Travel limits after homing
#define X_MAX_POS 205
#define X_MIN_POS 0
#define Y_MAX_POS 205
#define Y_MIN_POS 0
#define Z_MAX_POS 200
#define Z_MIN_POS 0
#define X_MAX_LENGTH (X_MAX_POS - X_MIN_POS)
#define Y_MAX_LENGTH (Y_MAX_POS - Y_MIN_POS)
#define Z_MAX_LENGTH (Z_MAX_POS - Z_MIN_POS)
// The position of the homing switches. Use MAX_LENGTH * -0.5 if the center should be 0, 0, 0
#define X_HOME_POS 0

29
Marlin/Marlin.pde
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@ -562,7 +562,7 @@ bool code_seen(char code)
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); \
st_synchronize();\
\
current_position[LETTER##_AXIS] = (LETTER##_HOME_DIR == -1) ? LETTER##_HOME_POS : LETTER##_MAX_LENGTH;\
current_position[LETTER##_AXIS] = LETTER##_HOME_POS;\
destination[LETTER##_AXIS] = current_position[LETTER##_AXIS];\
feedrate = 0.0;\
endstops_hit_on_purpose();\
@ -656,6 +656,13 @@ void process_commands()
}
feedrate = 0.0;
home_all_axis = !((code_seen(axis_codes[0])) || (code_seen(axis_codes[1])) || (code_seen(axis_codes[2])));
#if Z_HOME_DIR > 0 // If homing away from BED do Z first
if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
HOMEAXIS(Z);
}
#endif
#ifdef QUICK_HOME
if((home_all_axis)||( code_seen(axis_codes[X_AXIS]) && code_seen(axis_codes[Y_AXIS])) ) //first diagonal move
{
@ -669,8 +676,8 @@ void process_commands()
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
st_synchronize();
current_position[X_AXIS] = (X_HOME_DIR == -1) ? X_HOME_POS : X_MAX_LENGTH;
current_position[Y_AXIS] = (Y_HOME_DIR == -1) ? Y_HOME_POS : Y_MAX_LENGTH;
current_position[X_AXIS] = X_HOME_POS;
current_position[Y_AXIS] = Y_HOME_POS;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[X_AXIS] = current_position[X_AXIS];
destination[Y_AXIS] = current_position[Y_AXIS];
@ -687,12 +694,14 @@ void process_commands()
}
if((home_all_axis) || (code_seen(axis_codes[Y_AXIS]))) {
HOMEAXIS(Y);
HOMEAXIS(Y);
}
#if Z_HOME_DIR < 0 // If homing towards BED do Z last
if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
HOMEAXIS(Z);
}
#endif
if(code_seen(axis_codes[X_AXIS]))
{
@ -1533,15 +1542,15 @@ void get_arc_coordinates()
void prepare_move()
{
if (min_software_endstops) {
if (destination[X_AXIS] < X_HOME_POS) destination[X_AXIS] = X_HOME_POS;
if (destination[Y_AXIS] < Y_HOME_POS) destination[Y_AXIS] = Y_HOME_POS;
if (destination[Z_AXIS] < Z_HOME_POS) destination[Z_AXIS] = Z_HOME_POS;
if (destination[X_AXIS] < X_MIN_POS) destination[X_AXIS] = X_MIN_POS;
if (destination[Y_AXIS] < Y_MIN_POS) destination[Y_AXIS] = Y_MIN_POS;
if (destination[Z_AXIS] < Z_MIN_POS) destination[Z_AXIS] = Z_MIN_POS;
}
if (max_software_endstops) {
if (destination[X_AXIS] > X_MAX_LENGTH) destination[X_AXIS] = X_MAX_LENGTH;
if (destination[Y_AXIS] > Y_MAX_LENGTH) destination[Y_AXIS] = Y_MAX_LENGTH;
if (destination[Z_AXIS] > Z_MAX_LENGTH) destination[Z_AXIS] = Z_MAX_LENGTH;
if (destination[X_AXIS] > X_MAX_POS) destination[X_AXIS] = X_MAX_POS;
if (destination[Y_AXIS] > Y_MAX_POS) destination[Y_AXIS] = Y_MAX_POS;
if (destination[Z_AXIS] > Z_MAX_POS) destination[Z_AXIS] = Z_MAX_POS;
}
previous_millis_cmd = millis();
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply/60/100.0, active_extruder);

27
Marlin/pins.h
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@ -572,18 +572,33 @@
#define X_STEP_PIN 15
#define X_DIR_PIN 21
#define X_MIN_PIN 18
#define X_MAX_PIN -1
#if X_HOME_DIR < 0
# define X_MIN_PIN 18
# define X_MAX_PIN -1
#else
# define X_MIN_PIN -1
# define X_MAX_PIN 18
#endif
#define Y_STEP_PIN 22
#define Y_DIR_PIN 23
#define Y_MIN_PIN 19
#define Y_MAX_PIN -1
#if Y_HOME_DIR < 0
# define Y_MIN_PIN 19
# define Y_MAX_PIN -1
#else
# define Y_MIN_PIN -1
# define Y_MAX_PIN 19
#endif
#define Z_STEP_PIN 3
#define Z_DIR_PIN 2
#define Z_MIN_PIN 20
#define Z_MAX_PIN -1
#if Z_HOME_DIR < 0
# define Z_MIN_PIN 20
# define Z_MAX_PIN -1
#else
# define Z_MIN_PIN -1
# define Z_MAX_PIN 20
#endif
#define E0_STEP_PIN 1
#define E0_DIR_PIN 0

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