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Fix Endstops Homing configuration documentation

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2019-10-27 20:33:41 -04:00
parent f127df72f1
commit 4feb34b0af
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docs/endstops.md
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@@ -97,9 +97,22 @@ homing_speed | float | 2000.0f
### Performing the Homing Sequence
Homing is possible once the ODrive has closed-loop control over the axis. To trigger homing, we must enter `AXIS_STATE_HOMING`. This starts the homing sequence, which works as follows:
1. The axis moves towards the `min_endstop` at `homing_speed`
2. The axis presses the `min_endstop`
3. The axis moves away from the `min_endstop` to the home position
1. The axis switches to `INPUT_MODE_VEL_RAMP`
2. The axis ramps up to `homing_speed` in the direction of `min_endstop`
3. The axis presses the `min_endstop`
4. The axis switches to `INPUT_MODE_TRAP_TRAJ`
5. The axis moves to the home position in a controlled manner
It requires quite a few settings in addition to the endstop settings:
```
<odrv>.<axis>.controller.config.vel_ramp_rate
<odrv>.<axis>.trap_traj.config.vel_limit
<odrv>.<axis>.trap_traj.config.accel_limit
<odrv>.<axis>.trap_traj.config.decel_limit
```
We realize this is a little excessive and we will work towards minimizing the setup, but this works well for smooth and reliable behaviour for now.
### Homing at Startup
It is possible to configure the odrive to enter homing immediately after startup. To enable homing at startup, the following must be configured: