private bool HomeStepper()
{
PE.HomingStartMaskSetup = 0xFF; // Home all Axis
poKeysDevice.PEv2_StartHoming(ref PE); // Initiate the HOMING
//
// Wait for homing to complete...
// - This is only for STOP style steppers. We need to add code for 360 degree Sensor Steppers
//
if (!WaitHome(2000))
{
return(false);
}
poKeysDevice.PEv2_SetState(ref PE);
//
// Stop the Pulse Engine so we can set each axis (stepper) postion to zero since we are HOMED
//
PE.PulseEngineStateSetup = (byte)ePoKeysPEState.peSTOPPED;
poKeysDevice.PEv2_SetState(ref PE);
//
// Set each stepper position to zero
//
for (int i = 0; i < 8; i++)
{
PE.param2 |= (byte)(1 << i);
PE.PositionSetup[i] = 0; // Set axis (stepper) position to Zero
poKeysDevice.PEv2_SetPositions(ref PE);
}
//
// Set Pulse Engine back to RUNNING
PE.PulseEngineStateSetup = (byte)ePoKeysPEState.peRUNNING;
poKeysDevice.PEv2_SetState(ref PE);
//
// Get Pulse Engine Statue and Check to confirm we are RUNNING
poKeysDevice.PEv2_GetStatus(ref PE);
StepperRunning = (PE.PulseEngineState == (byte)ePoKeysPEState.peRUNNING);
PE.param2 = 0;
PE.HomingStartMaskSetup = 0;
return(true);
}