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Update endstops.md

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Paul Guenette
2019-05-27 17:20:42 +02:00
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docs/endstops.md
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@@ -83,7 +83,7 @@ After testing, don't forget to save and reboot:
---
## Homing Procedure Configuration
## Homing Configuration
There is one additional configuration parameter specifically for the homing process:
Name | Type | Default
@@ -93,7 +93,7 @@ homing_speed | float | 2000.0f
`homing_speed` is the axis travel speed during homing, in counts/second.
## Performing the Homing Sequence
### Performing the Homing Sequence
Homing is possible once the ODrive has closed-loop control over the axis. To trigger homing, we must first be in `AXIS_STATE_CLOSED_LOOP_CONTROL`, then call `<odrv>.<axis>.controller.home_axis()` This starts the homing sequence, which works as follows:
1. The axis moves towards the `min_endstop` at `homing_speed`
@@ -112,4 +112,4 @@ It is possible to configure the odrive to enter homing immediately after startup
In addition to phyiscal switches there are other options for wiring up your endstops - you will have to work out the details of connecting your device but here are some suggested approaches:
![endstop figure](https://github.com/owhite/ODrive/blob/master/docs/endstop_figure.png)
![endstop figure](https://github.com/owhite/ODrive/blob/master/docs/endstop_figure.png)