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Homing fixed and tested

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PAJohnson
2021-05-04 21:36:40 -04:00
parent 03e590ae44
commit 1dc87e8f14
1 changed files with 3 additions and 4 deletions
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Firmware/MotorControl/axis.cpp
+3 -4
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@@ -399,9 +399,6 @@ bool Axis::run_homing() {
if (pos_estimate_local == std::nullopt || !pos_estimate_local.has_value()){
return error_ |= ERROR_UNKNOWN_POSITION, false;
}
// Calculate the desired position after offset.
float input_buffer = pos_estimate_local.value() + min_endstop_.config_.offset;
controller_.config_.control_mode = Controller::CONTROL_MODE_POSITION_CONTROL;
controller_.config_.input_mode = Controller::INPUT_MODE_TRAP_TRAJ;
@@ -409,7 +406,9 @@ bool Axis::run_homing() {
// Initialize closed loop control, and then set the desired location.
start_closed_loop_control();
controller_.input_pos_ = input_buffer;
controller_.input_pos_ = pos_estimate_local.value() + min_endstop_.config_.offset;
controller_.pos_setpoint_ = pos_estimate_local.value();
controller_.vel_setpoint_ = 0.0f;
controller_.input_pos_updated();
while ((requested_state_ == AXIS_STATE_UNDEFINED) && motor_.is_armed_ && !controller_.trajectory_done_) {