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Add endstop pressed errors in closed_loop_control mode

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2018-08-28 23:12:53 -04:00
committed by unknown
parent 41a590773f
commit ef954aa84d
2 changed files with 11 additions and 1 deletions
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Firmware/MotorControl/axis.cpp
+8
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@@ -272,6 +272,14 @@ bool Axis::run_closed_loop_control_loop() {
return error_ |= ERROR_CONTROLLER_FAILED, false; //TODO: Make controller.set_error
if (!motor_.update(current_setpoint, encoder_.phase_))
return false; // set_error should update axis.error_
// Check for endstop presses
if(config_.min_endstop.enabled && min_endstop_state_) {
return error_ |= ERROR_MIN_ENDSTOP_PRESSED, false;
} else if(config_.max_endstop.enabled && max_endstop_state_) {
return error_ |= ERROR_MAX_ENDSTOP_PRESSED, false;
}
return true;
});
set_step_dir_enabled(false);