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Add <axis>.startup_homing configuration value

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2018-08-29 22:49:11 -04:00
parent 8df5e217b0
commit dd74eed54b
2 changed files with 6 additions and 1 deletions
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Firmware/MotorControl/axis.cpp
+4 -1
View File
@@ -332,8 +332,11 @@ void Axis::run_state_machine_loop() {
task_chain_[pos++] = AXIS_STATE_ENCODER_INDEX_SEARCH;
if (config_.startup_encoder_offset_calibration)
task_chain_[pos++] = AXIS_STATE_ENCODER_OFFSET_CALIBRATION;
if (config_.startup_closed_loop_control)
if (config_.startup_closed_loop_control){
task_chain_[pos++] = AXIS_STATE_CLOSED_LOOP_CONTROL;
if(config_.startup_homing)
task_chain_[pos++] = AXIS_STATE_HOMING;
}
else if (config_.startup_sensorless_control)
task_chain_[pos++] = AXIS_STATE_SENSORLESS_CONTROL;
task_chain_[pos++] = AXIS_STATE_IDLE;
Firmware/MotorControl/axis.hpp
+2
View File
@@ -34,6 +34,7 @@ struct AxisConfig_t {
bool startup_encoder_offset_calibration = false; //<! run encoder offset calibration after startup, skip otherwise
bool startup_closed_loop_control = false; //<! enable closed loop control after calibration/startup
bool startup_sensorless_control = false; //<! enable sensorless control after calibration/startup
bool startup_homing = false; //<! enable homing after calibration/startup
bool enable_step_dir = false; //<! enable step/dir input after calibration
// For M0 this has no effect if enable_uart is true
@@ -196,6 +197,7 @@ public:
make_protocol_property("startup_encoder_offset_calibration", &config_.startup_encoder_offset_calibration),
make_protocol_property("startup_closed_loop_control", &config_.startup_closed_loop_control),
make_protocol_property("startup_sensorless_control", &config_.startup_sensorless_control),
make_protocol_property("startup_homing", &config_.startup_homing),
make_protocol_property("enable_step_dir", &config_.enable_step_dir),
make_protocol_property("counts_per_step", &config_.counts_per_step),
make_protocol_property("ramp_up_time", &config_.ramp_up_time),