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Make Homing use input_xxx values

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This commit is contained in:
Paul Guenette
2019-05-25 14:54:41 +02:00
parent 6bd14c51ad
commit cf9857651e
2 changed files with 16 additions and 12 deletions
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Firmware/MotorControl/axis.cpp
+4 -3
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@@ -287,10 +287,11 @@ bool Axis::run_closed_loop_control_loop() {
if (homing_state_ == HOMING_STATE_HOMING) {
if (min_endstop_.getEndstopState()) {
encoder_.set_linear_count(min_endstop_.config_.offset);
controller_.pos_setpoint_ = 0.0f;
controller_.vel_setpoint_ = 0.0f;
controller_.current_setpoint_ = 0.0f;
controller_.input_pos_ = 0.0f;
controller_.input_vel_ = 0.0f;
controller_.input_current_ = 0.0f;
controller_.config_.control_mode = Controller::CTRL_MODE_POSITION_CONTROL;
controller_.input_pos_updated();
homing_state_ = HOMING_STATE_MOVE_TO_ZERO;
}
} else if (homing_state_ == HOMING_STATE_MOVE_TO_ZERO) {