Hi Dan,
please check:
in YOURMACHINE.INI under [JOINT_0/1/2/3] add
AUTOHOMEING_SERVOSYSTEM = 1
to enable AUTOHOMING per joint.
In inijoint.cc the homing parameters are parsed, with
jointIniFile->Find(&is_autohoming_servo, "AUTOHOMEING_SERVOSYSTEM",
jointString);
If found and value = 1, the local bool variable is set
is_autohoming_servo true, otherwise false.
Then emcJointSetHomingParams() is called.
It passes each homing parameter as an argument, so I had to add a
further argument "is_autohoming_servo"
to emcJointSetHomingParams arguments list in the prototype, found in
emc.hh
What emcJointSetHomingParams() basicly does, is setting the parameters
of the datastructures representing
each joint to the values given in the ini file.
Beside other parameters there is a integer called "flags" that holds
binary variables.
In motion.h the decimal values of these Flags are defined.
/* flags for homing */
#define HOME_IGNORE_LIMITS 1
#define HOME_USE_INDEX 2
#define HOME_IS_SHARED 4
#define HOME_UNLOCK_FIRST 8
#define HOME_ABSOLUTE_ENCODER 16
#define HOME_NO_REHOME 32
#define HOME_NO_FINAL_MOVE 64
#define HOME_INDEX_NO_ENCODER_RESET 128
#define HOME_AUTOHOMING_SERVO 256 <<-- added
I added a new value for the autohoming option "HOME_AUTOHOMING_SERVO"
bit 8 (2^8 = 256)
Of course it is important that this bit position is unique.
If new flags have been added since I added this, the next free bit
position must be used.
Within control.c the term (joint->flag & HOME_AUTOHOMING_SERVO) just
checks if this bit is set.
up to here this depends on nothing else and printf should work if ini
file is set accordingly (=> AUTOHOMEING_SERVOSYSTEM =1 is found in
JOINT section).
pls check
(beware, i'm the grandmaster of messing up variable names. You will find
__AUTOHOMEING__ and __AUTOHOMING___)
cheers
Rainer
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