changed homing sequence

when homing, EVT_LIMIT stops the homing sequence without goign through
limit actions. Just checks which limit was hit to deduce if homing was
successful or not

Atm_AccelStepper.cpp

@@ -12,8 +12,8 @@ Atm_AccelStepper& Atm_AccelStepper::begin(int step_pin, int dir_pin) {
     /*     ENABLED */     ENT_ENABLED,              -1,              -1,    DISABLE,         -1,             DISABLE,     RUNNING,      STOP,              STOP,               -1,                -1,            -1,    HOMING_LOW,     HOMING_HIGH,   -1,
     /*     RUNNING */     ENT_RUNNING,      LP_RUNNING,              -1,    DISABLE,         -1,                  -1,     RUNNING,      STOP,              STOP,        LIMIT_LOW,        LIMIT_HIGH,       ENABLED,            -1,              -1,   -1,
     /*        STOP */        ENT_STOP,         LP_STOP,              -1,    DISABLE,         -1,                  -1,     RUNNING,        -1,                -1,               -1,                -1,       ENABLED,            -1,              -1,   -1,
-    /*  HOMING_LOW */  ENT_HOMING_LOW,   LP_HOMING_LOW,  EXT_HOMING_LOW,    DISABLE,         -1,                  -1,          -1,      STOP,              STOP,        LIMIT_LOW,        LIMIT_HIGH,            -1,            -1,              -1,   -1,
-    /* HOMING_HIGH */ ENT_HOMING_HIGH,  LP_HOMING_HIGH, EXT_HOMING_HIGH,    DISABLE,         -1,                  -1,          -1,      STOP,              STOP,        LIMIT_LOW,        LIMIT_HIGH,            -1,            -1,              -1,   -1,
+    /*  HOMING_LOW */  ENT_HOMING_LOW,   LP_HOMING_LOW,  EXT_HOMING_LOW,    DISABLE,         -1,                  -1,          -1,      STOP,              STOP,          ENABLED,          ENABLED,            -1,            -1,              -1,   -1,
+    /* HOMING_HIGH */ ENT_HOMING_HIGH,  LP_HOMING_HIGH, EXT_HOMING_HIGH,    DISABLE,         -1,                  -1,          -1,      STOP,              STOP,          ENABLED,          ENABLED,            -1,            -1,              -1,   -1,
     /*   LIMIT_LOW */   ENT_LIMIT_LOW,    LP_LIMIT_LOW,              -1,         -1,         -1,                  -1,     RUNNING,      STOP,              STOP,        LIMIT_LOW,                -1,            -1,            -1,              -1,   -1,
     /*  LIMIT_HIGH */  ENT_LIMIT_HIGH,   LP_LIMIT_HIGH,              -1,         -1,         -1,                  -1,     RUNNING,      STOP,              STOP,               -1,        LIMIT_HIGH,            -1,            -1,              -1,   -1
   };
@@ -166,7 +166,7 @@ void Atm_AccelStepper::action( int id ) {
     push(connectors, ON_CHANGESTATE, 0,  state(), 0);
     push(connectors, ON_CHANGEPOSITION, 0,  _currentStep, stepper->speed());
       if (last_trigger == EVT_STOP) {
-        // runMode = 0 ;
+        runMode = 0 ;
         stepper->stop();
         _targetStep = stepper->targetPosition();
         push( connectors, ON_STOP, 0, 0, 0 );
@@ -186,10 +186,11 @@ void Atm_AccelStepper::action( int id ) {
       // _currentStep = stepper->currentPosition();
       return;
     case ENT_HOMING_LOW:
+      homingLow_done = 0;
       push(connectors, ON_CHANGESTATE, 0,  state(), 0);
       push(connectors, ON_CHANGEPOSITION, 0,  _currentStep, stepper->speed());
       runMode = 1;
-      _isHoming = 1 ;
+      //_isHoming = 1 ;
       stepper->setSpeed(-1*homing_speed);
       return;
     case LP_HOMING_LOW:
@@ -198,23 +199,22 @@ void Atm_AccelStepper::action( int id ) {
       return;
     case EXT_HOMING_LOW:
       runMode = 0;
-      _isHoming = 0;
-      push(connectors, ON_CHANGEPOSITION, 0,  _currentStep, stepper->speed());
+      //_isHoming = 0;
       if(last_trigger == EVT_ON_LIMIT_LOW) {
         stepper->setCurrentPosition(0);
         _currentStep = 0;
-        push(connectors, ON_CHANGEPOSITION, 0,  _currentStep, stepper->speed());
-        // Serial.println("homing low done");
+        homingLow_done = 1 ;
       }
-      else{};//Serial.println("homing low failed");}
+      else{homingLow_done = 0 ;};//Serial.println("homing low failed");}
+      push(connectors, ON_CHANGEPOSITION, 0,  _currentStep, stepper->speed());
+      push(connectors, ON_ONHOMINGLOW, 0,  _currentStep, homingLow_done);
       trigger(EVT_EMERGENCY_STOP);
-
       return;
     case ENT_HOMING_HIGH:
       push(connectors, ON_CHANGESTATE, 0,  state(), 0);
       push(connectors, ON_CHANGEPOSITION, 0,  _currentStep, stepper->speed());
       runMode = 1;
-      _isHoming = 2 ;
+      //_isHoming = 2 ;
       stepper->setSpeed(homing_speed);
       return;
     case LP_HOMING_HIGH:
@@ -222,17 +222,21 @@ void Atm_AccelStepper::action( int id ) {
       push(connectors, ON_CHANGEPOSITION, 0,  _currentStep, stepper->speed());
       return;
     case EXT_HOMING_HIGH:
-    push(connectors, ON_CHANGEPOSITION, 0,  _currentStep, stepper->speed());
+
       runMode = 0;
-      _isHoming = 0;
-      trigger(EVT_EMERGENCY_STOP);
+      //_isHoming = 0;
       if(last_trigger == EVT_ON_LIMIT_HIGH) {
         _maxStep = stepper->currentPosition();
         _currentStep = _maxStep;
+
+        homingHigh_done = 1;
         //Serial.println("homing high done");
       }
-      else{};//Serial.println("homing high failed");}
-      _targetStep = _currentStep;
+      else{homingHigh_done = 0;};//Serial.println("homing high failed");}
+      push(connectors, ON_CHANGEPOSITION, 0,  _currentStep, stepper->speed());
+      //_targetStep = _currentStep;
+      push(connectors, ON_ONHOMINGHIGH, 0,  _currentStep, homingHigh_done);
+      trigger(EVT_EMERGENCY_STOP);
       return;
     case ENT_LIMIT_LOW:
       /*triggered by a change in limit state
@@ -598,22 +602,22 @@ Atm_AccelStepper& Atm_AccelStepper::onStop( atm_cb_push_t callback, int idx ) {
 }
 
 Atm_AccelStepper& Atm_AccelStepper::onOnhominglow( Machine& machine, int event ) {
-  onPush( connectors, ON_ONTARGET, 0, 1, 1, machine, event );
+  onPush( connectors, ON_ONHOMINGLOW, 0, 1, 1, machine, event );
   return *this;
 }
 
 Atm_AccelStepper& Atm_AccelStepper::onOnhominglow( atm_cb_push_t callback, int idx ) {
-  onPush( connectors, ON_ONTARGET, 0, 1, 1, callback, idx );
+  onPush( connectors, ON_ONHOMINGLOW, 0, 1, 1, callback, idx );
   return *this;
 }
 
 Atm_AccelStepper& Atm_AccelStepper::onOnhominghigh( Machine& machine, int event ) {
-  onPush( connectors, ON_ONTARGET, 0, 1, 1, machine, event );
+  onPush( connectors, ON_ONHOMINGHIGH, 0, 1, 1, machine, event );
   return *this;
 }
 
 Atm_AccelStepper& Atm_AccelStepper::onOnhominghigh( atm_cb_push_t callback, int idx ) {
-  onPush( connectors, ON_ONTARGET, 0, 1, 1, callback, idx );
+  onPush( connectors, ON_ONHOMINGHIGH, 0, 1, 1, callback, idx );
   return *this;
 }
 

Atm_AccelStepper.h

@@ -43,6 +43,8 @@ class Atm_AccelStepper: public Machine {
   AccelStepper *stepper;
 
   long int homing_speed = 1000;
+  bool homingLow_done = 0 ;
+  bool homingHigh_done = 0 ;
   long int max_speed = 10000;
   long int acceleration = 1000;
   Atm_AccelStepper& setMaxSpeed( long int maxSpeed );
@@ -88,7 +90,7 @@ class Atm_AccelStepper: public Machine {
           ENT_LIMIT_LOW, LP_LIMIT_LOW, ENT_LIMIT_HIGH, LP_LIMIT_HIGH };
   // CONNECTORS
   enum { ON_CHANGEPOSITION, ON_CHANGESTATE, ON_ONLIMITHIGH,
-          ON_ONLIMITLOW, ON_ONTARGET, ON_STOP, CONN_MAX };
+          ON_ONLIMITLOW, ON_ONTARGET, ON_STOP, ON_ONHOMINGLOW, ON_ONHOMINGHIGH, CONN_MAX };
   atm_connector connectors[CONN_MAX];
   int event( int id );
   void action( int id );
@@ -99,7 +101,7 @@ class Atm_AccelStepper: public Machine {
   long int _targetStep = 0;
   long int _maxStep ;
   atm_timer_millis position_timer ;
-  int POSITION_SEND_TIMER = 100 ;
+  int POSITION_SEND_TIMER = 50 ;
 
   // bool _rotationReversed = 0 ;