public override void home(Homing homing_state)
{
// Always home XY together
var homing_axes = homing_state.get_axes();
var home_xy = homing_axes.Contains(0) || homing_axes.Contains(1);
var home_z = homing_axes.Contains(2);
var updated_axes = new List <int>();
if (home_xy)
{
updated_axes.Add(0);
updated_axes.Add(1);
}
if (home_z)
{
updated_axes.Add(2);
}
homing_state.set_axes(updated_axes);
// Do actual homing
if (home_xy)
{
this._home_axis(homing_state, 0, this.rails[0]);
}
if (home_z)
{
this._home_axis(homing_state, 2, this.rails[1]);
}
}
public override void home(Homing homing_state)
{
// Each axis is homed independently and in order
foreach (var axis in homing_state.get_axes())
{
if (axis == this.dual_carriage_axis)
{
var dc1 = this.dual_carriage_rails[0];
var dc2 = this.dual_carriage_rails[1];
var altc = this.rails[axis] == dc2;
this._activate_carriage(0);
this._home_axis(homing_state, axis, dc1);
this._activate_carriage(1);
this._home_axis(homing_state, axis, dc2);
this._activate_carriage(altc ? 1 : 0);
}
else
{
this._home_axis(homing_state, axis, this.rails[axis]);
}
}
}
public override void home(Homing homing_state)
{
// Each axis is homed independently and in order
foreach (var axis in homing_state.get_axes())
{
var rail = this.rails[axis];
// Determine movement
var _tup_1 = rail.get_range();
var position_min = _tup_1.X;
var position_max = _tup_1.Y;
var hi = rail.get_homing_info();
var homepos = new List <double?> {
null, null, null, null
};
homepos[axis] = hi.position_endstop;
var forcepos = homepos.ToList();
if ((bool)hi.positive_dir)
{
forcepos[axis] -= 1.5 * (hi.position_endstop - position_min);
}
else
{
forcepos[axis] += 1.5 * (position_max - hi.position_endstop);
}
// Perform homing
double?limit_speed = null;
if (axis == 2)
{
limit_speed = this.max_z_velocity;
}
homing_state.home_rails(new List <PrinterRail> {
rail
},
(forcepos[0], forcepos[1], forcepos[2], forcepos[3]),
(homepos[0], homepos[1], homepos[2], homepos[3]),
limit_speed);
}
}
public void cmd_G28(Dictionary <string, object> parameters)
{
// Move to origin
var axes = new List <int>();
foreach (var axis in "XYZ")
{
if (parameters.ContainsKey(axis.ToString()))
{
axes.Add(axis2pos[axis.ToString()]);
}
}
if (axes.Count == 0)
{
axes.Add(0);
axes.Add(1);
axes.Add(2);
}
var homing_state = new Homing(this.printer);
if (this.is_fileinput)
{
homing_state.set_no_verify_retract();
}
try
{
homing_state.home_axes(axes);
}
catch (Exception ex)
{
throw new GCodeException("", ex);
}
foreach (var axis in homing_state.get_axes())
{
this.base_position.Set(axis, this.homing_position.Get(axis));
}
this.reset_last_position();
}