main limit pin assignement

HTequi-firmware/lib/Atm_lien/Atm_Teenstep.cpp

@@ -116,8 +116,8 @@ void Atm_Teenstep::action( int id ) {
     case EXT_HOMING_HIGH:
       controller->emergencyStop();
       if(last_trigger == EVT_LIMIT_HIGH){
-        push(connectors, ON_LIMITHIGH, 0,  1, 0);
         _maxStep = motor->getPosition();
+        push(connectors, ON_LIMITHIGH, 0,  _maxStep, 0);
         Serial.print("Stepper maxPos ");
         Serial.println(motor->getPosition());
         trigger(EVT_ENABLE);

HTequi-firmware/src/blobcnc_top/main.cpp

@@ -36,8 +36,8 @@ EthernetUDP Udp;
 OSCBundle bndl;
 
 /////////////////// STEPPER machines  ////////////////////////
-const int HIGH_SPEED = 800 ;
-const int HIGH_ACC = 800 ;
+const int HIGH_SPEED = 2000 ;
+const int HIGH_ACC = 600 ;
 const int LOW_SPEED = 100 ;
 const int LOW_ACC = 1000 ;
 
@@ -159,27 +159,14 @@ void setup() {
 
 
   //  STEPPERS
-  X_top_step.trace( Serial );
-  X_top_step.begin(X_top_stepper, X_top_controller)
-            .setEnablePin(18)//.enableReversed(1);//.enable(1);
-            .setLimitType(2).setLimitPins(16, 17).limitReversed(true);
-  X_top_stepper.setMaxSpeed(HIGH_SPEED);
-  X_top_stepper.setAcceleration(HIGH_ACC);
-  X_top_stepper.setInverseRotation(true);
-  X_top_OSC.begin(X_top_step, Udp, bndl, "/X_top");
-  X_top_step.onChangeposition([](int idx, int v, int up){bndl.add("/X_top_OSC/step").add(v);});
-  X_top_step.onChange([](int idx, int v, int up){bndl.add("/X_top_OSC/state").add(v);});
-  X_top_step.onLimitlow([](int idx, int v, int up){bndl.add("/X_top_OSC/limitLow").add(v);});
-  X_top_step.onLimithigh([](int idx, int v, int up){bndl.add("/X_top_OSC/limitHigh").add(v);});
-  // X_top_step.onOnchangeposition();
 
   Y_top_step.trace( Serial );
   Y_top_step.begin(Y_top_stepper, Y_top_controller)
             .setEnablePin(23).enableReversed(1)
             //limit pin is on 7 and 8
-             .setLimitType(2).setLimitPins(6, 7).limitReversed(true);
-  Y_top_stepper.setMaxSpeed(800);
-  Y_top_stepper.setAcceleration(2500);
+             .setLimitType(2).setLimitPins(8, 7).limitReversed(true);
+  Y_top_stepper.setMaxSpeed(600);
+  Y_top_stepper.setAcceleration(1500);
   Y_top_stepper.setInverseRotation(false);
   Y_top_OSC.begin(Y_top_step, Udp, bndl, "/Y_top");
   //OSC feedback
@@ -192,6 +179,23 @@ void setup() {
   //    });
 
 
+  X_top_step.trace( Serial );
+  X_top_step.begin(X_top_stepper, X_top_controller)
+            .setEnablePin(18)//.enableReversed(1);//.enable(1);
+            .setLimitType(2).setLimitPins(16, 17).limitReversed(true);
+  X_top_stepper.setMaxSpeed(HIGH_SPEED);
+  X_top_stepper.setAcceleration(HIGH_ACC);
+  X_top_stepper.setInverseRotation(false);
+  X_top_OSC.begin(X_top_step, Udp, bndl, "/X_top");
+  X_top_step.onChangeposition([](int idx, int v, int up){bndl.add("/X_top_OSC/step").add(v);});
+  X_top_step.onChange([](int idx, int v, int up){bndl.add("/X_top_OSC/state").add(v);});
+  X_top_step.onLimitlow([](int idx, int v, int up){bndl.add("/X_top_OSC/limitLow").add(v);});
+  X_top_step.onLimithigh([](int idx, int v, int up){bndl.add("/X_top_OSC/limitHigh").add(v);});
+  // X_top_step.onOnchangeposition();
+
+
+
+
   // FEEDERS
   Serial1.begin(9600);
   feeder1.begin( Serial1, feeder1_buffer, sizeof( feeder1_buffer ) )
@@ -206,7 +210,7 @@ void setup() {
     .onCommand( feeder2_callback );
 
   //  Servo controlling pill trap
-  pill_trap.attach(14);
+  //pill_trap.attach(14);
 
   //  Peristaltic pump
   pinMode(peristaltic_dir_pin, OUTPUT);

blob-CN/main.pd

@@ -54,7 +54,7 @@
 #X msg 733 282 /Y_top/emergencyStop;
 #X obj 1159 335 list prepend set;
 #X obj 1159 360 list trim;
-#X msg 1159 385 /Y_top_OSC/state 1;
+#X msg 1159 385 /X_top_OSC/state 0;
 #X msg 542 157 /X_top/enable 1;
 #X msg 756 101 /feeder2/barrel_home;
 #X msg 746 131 /feeder1/barrel_home;
@@ -74,11 +74,13 @@
 #X floatatom 369 226 5 0 0 0 - - -;
 #X floatatom 429 200 5 0 0 0 - - -;
 #X obj 690 321 hsl 128 15 0 255 0 0 empty empty empty -2 -8 0 10 -262144
--1 -1 12700 1;
+-1 -1 0 1;
 #X obj 698 355 i;
 #X msg 674 395 /peristaltic \$1;
 #X msg 710 227 /Y_top/move \$1;
 #X floatatom 835 241 5 0 0 0 - - -;
+#X obj 1133 421 route /X_top_OSC/step;
+#X floatatom 1152 467 14 0 0 0 - - -;
 #X connect 0 0 35 0;
 #X connect 2 0 35 0;
 #X connect 3 0 35 0;
@@ -104,8 +106,8 @@
 #X connect 32 3 25 0;
 #X connect 33 0 39 0;
 #X connect 34 0 40 0;
-#X connect 34 1 29 0;
 #X connect 34 1 47 0;
+#X connect 34 1 72 0;
 #X connect 35 0 1 0;
 #X connect 36 0 34 0;
 #X connect 37 0 35 0;
@@ -141,3 +143,5 @@
 #X connect 69 0 42 0;
 #X connect 70 0 42 0;
 #X connect 71 0 70 0;
+#X connect 72 0 73 0;
+#X connect 72 1 29 0;