Homing Class Reference

Used for running a homing routine on a machine. More...

#include <homing.hpp>

Inheritance diagram for Homing:

Public Member Functions
void	begin ()
void	add_axis (uint8_t limit_switch_port, DecimalPosition value_at_limit, int direction, DecimalPosition velocity, BlockPort *target)
void	start_homing_routine ()

Protected Member Functions
void	loop ()

Detailed Description

Used for running a homing routine on a machine.

The Homing plugin lets the user define a number of axes they want to home Here's an example of how to configure and run a homing routine :

#define module_driver
#include "stepdance.hpp"
 
ThresholdGenerator threshold_gen;
InputPort input_a;
Channel  channel_a;
OutputPort output_a;
 
void setup() {
 
   // Initialize OutputPort A
  output_a.begin(OUTPUT_A);
    // Enable the output drivers
  enable_drivers();
 
  // Initialize InputPort A
  input_a.begin(INPUT_A);
  input_a.output_x.map(threshold_gen.input); // Map SIGNAL_X to ThresholdGenerator input
 
  // Configure ThresholdGenerator
  threshold_gen.setLowerThreshold(10.0, true); // Set lower threshold at 10.0 with clamping
  threshold_gen.setUpperThreshold(90.0, true); // Set upper threshold at 90.0 with clamping
  threshold_gen.setLowerCallback(&onLowerThresholdCrossed); // Set callback for lower threshold crossing
  threshold_gen.setUpperCallback(&onUpperThresholdCrossed); // Set callback for upper threshold crossing
 
  // Map ThresholdGenerator output to Channel A's target position
  threshold_gen.output.map(channel_a.input_target_position);
  threshold_gen.begin();
 
  // Initialize Channel A
  channel_a.begin(&output_a, SIGNAL_E); // Connect Channel A to OutputPort A's SIGNAL_E
  dance_start();
} 
void onLowerThresholdCrossed() {
  Serial.println("Lower threshold crossed!");
  // Additional actions can be added here
}  
 
void onUpperThresholdCrossed() {
  Serial.println("Upper threshold crossed!");
  // Additional actions can be added here
}
 
void loop(){
dance_loop();
}

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The documentation for this class was generated from the following file:

• lib/homing.hpp