added home switches

arielnh56 · Feb 28, 2024 · 0ad2645 · 0ad2645
1 parent 51bb346
commit 0ad2645
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Showing 2 changed files with 30 additions and 15 deletions.
diff --git a/Shoptask1720/Shoptask1720.hal b/Shoptask1720/Shoptask1720.hal
@@ -127,7 +127,7 @@ net x-pos-fb               =>  joint.0.motor-pos-fb
 
 # ---setup home / limit switch signals---
 
-net x-home-sw     =>  joint.0.home-sw-in
+net x-home-sw  hm2_7i76e.0.7i76.0.0.input-13 =>  joint.0.home-sw-in
 net x-neg-limit     =>  joint.0.neg-lim-sw-in
 net x-pos-limit     =>  joint.0.pos-lim-sw-in
 
@@ -191,6 +191,11 @@ setp    hm2_7i76e.0.encoder.00.scale  [JOINT_1]ENCODER_SCALE
 net y-pos-fb               <=  hm2_7i76e.0.encoder.00.position
 net y-vel-fb               <=  hm2_7i76e.0.encoder.00.velocity
 net y-pos-fb               =>  joint.1.motor-pos-fb
+# ---setup home / limit switch signals---
+
+net y-home-sw  hm2_7i76e.0.7i76.0.0.input-14 =>  joint.1.home-sw-in
+net y-neg-limit     =>  joint.1.neg-lim-sw-in
+net y-pos-limit     =>  joint.1.pos-lim-sw-in
 #net y-index-enable    joint.1.index-enable  <=>  hm2_7i76e.0.encoder.00.index-enable
 #net y-pos-rawcounts        <=  hm2_7i76e.0.encoder.01.rawcounts
 #
@@ -258,7 +263,7 @@ net z-pos-fb               =>  joint.2.motor-pos-fb
 #net y-index-enable    joint.2.index-enable  <=>  hm2_7i76e.0.encoder.02.index-enable
 # ---setup home / limit switch signals---
 
-net z-home-sw     =>  joint.2.home-sw-in
+net z-home-sw  hm2_7i76e.0.7i76.0.0.input-12 =>  joint.2.home-sw-in
 net z-neg-limit     =>  joint.2.neg-lim-sw-in
 net z-pos-limit     =>  joint.2.pos-lim-sw-in
 

diff --git a/Shoptask1720/Shoptask1720.ini b/Shoptask1720/Shoptask1720.ini
@@ -103,8 +103,8 @@ TOOL_TABLE = tool.tbl
 [AXIS_X]
 MAX_VELOCITY = 0.5
 MAX_ACCELERATION = 6.0
-MIN_LIMIT = -2.0
-MAX_LIMIT = 9.9
+MIN_LIMIT = -4.8
+MAX_LIMIT = 5.1
 
 [JOINT_0]
 TYPE = LINEAR
@@ -133,17 +133,20 @@ DIRHOLD    = 10000
 STEPLEN    = 5000
 STEPSPACE  = 5000
 STEP_SCALE = -32000
-MIN_LIMIT = -2.0
-MAX_LIMIT = 9.9
-HOME_OFFSET = 0.0
-HOME_SEQUENCE = 0
+MIN_LIMIT = -4.8
+MAX_LIMIT = 5.1
+HOME_OFFSET = 5.0
+HOME_SEQUENCE = 1
+HOME_SEARCH_VEL = 0.5
+HOME_LATCH_VEL = -0.01
+HOME_FINAL_VEL = 0.5
 #******************************************
 
 #******************************************
 [AXIS_Y]
 MAX_VELOCITY = 0.5
 MAX_ACCELERATION = 4.0
-MIN_LIMIT = -8.000
+MIN_LIMIT = -6.600
 MAX_LIMIT = 8.0
 
 [JOINT_1]
@@ -173,10 +176,13 @@ DIRHOLD    = 10000
 STEPLEN    = 5000
 STEPSPACE  = 5000
 STEP_SCALE = 32000
-MIN_LIMIT = -8.000
+MIN_LIMIT = -6.600
 MAX_LIMIT = 8.0
-HOME_OFFSET = 0.0
-HOME_SEQUENCE = 1
+HOME_OFFSET = 1.0
+HOME_SEQUENCE = 2
+HOME_SEARCH_VEL = 0.5
+HOME_LATCH_VEL = -0.01
+HOME_FINAL_VEL = 0.5
 #******************************************
 
 #******************************************
@@ -214,9 +220,13 @@ STEPLEN    = 5000
 STEPSPACE  = 5000
 STEP_SCALE = -21333.33
 MIN_LIMIT = -3.1
-MAX_LIMIT = 0.001
-HOME_OFFSET = 0.0
-HOME_SEQUENCE = 2
+MAX_LIMIT = 0.01
+HOME_SEQUENCE = 0
+HOME_OFFSET = -0.05
+HOME_SEARCH_VEL = 0.5
+HOME_LATCH_VEL = -0.01
+HOME_FINAL_VEL = 0.1
+#******************************************
 #******************************************
 
 [XHC_HB04_CONFIG]