void _home_axis(Homing homing_state, int axis, PrinterRail rail)
{
// 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;
if (axis == 0)
{
homepos[1] = 0.0;
}
var forcepos = homepos.ToList();
if (hi.positive_dir ?? false)
{
forcepos[axis] -= hi.position_endstop - position_min;
}
else
{
forcepos[axis] += 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 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);
}
}