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Allow reversal of homing direction and ability to clear SPI Error Rate (#427)

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* clear spi_error_rate on error clear
* negative homing speed and negative endtop offset
This commit is contained in:
Cam Buss
2020-07-01 22:53:17 +02:00
committed by Samuel Sadok
parent 60482c9e8b
commit 2571ab308d
3 changed files with 4 additions and 4 deletions
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Firmware/MotorControl/axis.cpp
+2 -3
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@@ -173,10 +173,9 @@ bool Axis::do_checks() {
// controller_.do_checks();
// Check for endstop presses
bool vel_dependent_stopping = (current_state_ == AXIS_STATE_HOMING) && (controller_.config_.control_mode >= Controller::CTRL_MODE_VELOCITY_CONTROL);
if (min_endstop_.config_.enabled && min_endstop_.get_state() && (!vel_dependent_stopping || controller_.vel_setpoint_ < 0.0f)) {
if (min_endstop_.config_.enabled && min_endstop_.get_state() && !(current_state_ == AXIS_STATE_HOMING)) {
error_ |= ERROR_MIN_ENDSTOP_PRESSED;
} else if (max_endstop_.config_.enabled && max_endstop_.get_state() && (!vel_dependent_stopping || controller_.vel_setpoint_ > 0.0f)) {
} else if (max_endstop_.config_.enabled && max_endstop_.get_state() && !(current_state_ == AXIS_STATE_HOMING)) {
error_ |= ERROR_MAX_ENDSTOP_PRESSED;
}