public void home_start(
double print_time,
double sample_time,
int sample_count,
double rest_time,
bool triggered = true)
{
var clock = _mcu.print_time_to_clock(print_time);
var rest_ticks = (int)(rest_time * _mcu.get_adjusted_freq());
_homing = true;
_min_query_time = _mcu.monotonic();
_next_query_print_time = print_time + RETRY_QUERY;
_home_cmd.send(new object[] {
_oid,
clock,
_mcu.seconds_to_clock(sample_time),
sample_count,
rest_ticks,
triggered ^ _invert
}, reqclock: (ulong)clock);
foreach (var s in _steppers)
{
s.note_homing_start((ulong)clock);
}
}
public void _build_config()
{
if (_is_static)
{
_mcu.add_config_cmd($"set_digital_out pin={_pin} value={(_start_value ? 1 : 0)}");
return;
}
_oid = _mcu.create_oid();
_mcu.add_config_cmd($"config_digital_out oid={_oid} pin={_pin} value={(_start_value ? 1 : 0)} default_value={(_shutdown_value ? 1 : 0)} max_duration={_mcu.seconds_to_clock(_max_duration)}");
var cmd_queue = _mcu.alloc_command_queue();
_set_cmd = _mcu.lookup_command("schedule_digital_out oid=%c clock=%u value=%c", cq: cmd_queue);
}
