/// <summary>
/// Finds the minimum limit switches for all 3 Axes
/// </summary>
public void FindHome(int delayRapid, int delaySlow, bool findX, bool findY, bool findZ)
{
bool wasIgnoringLimits = IgnoreLimitSwitches;
IgnoreLimitSwitches = false;
AxisX.StepDirection = false;
AxisY.StepDirection = false;
AxisZ.StepDirection = false;
bool xSeeking = findX;
bool ySeeking = findY;
bool zSeeking = findZ;
// --- STEP 1 - Rapid to home (All minimum limit switches)
while (xSeeking || ySeeking || zSeeking)
{
if (Program.EStopCondition)
{
return;
}
xSeeking = xSeeking && AxisX.LimitReached != Axis.LimitSwitch.Min && AxisX.LimitReached != Axis.LimitSwitch.Unknown;
ySeeking = ySeeking && AxisY.LimitReached != Axis.LimitSwitch.Min && AxisY.LimitReached != Axis.LimitSwitch.Unknown;
zSeeking = zSeeking && AxisZ.LimitReached != Axis.LimitSwitch.Min && AxisZ.LimitReached != Axis.LimitSwitch.Unknown;
if (xSeeking)
{
AxisX.Step();
}
if (ySeeking)
{
AxisY.Step();
}
if (zSeeking)
{
AxisZ.Step();
}
DelayBy(delayRapid);
}
// --- STEP 2 - After a pause, slowly move each axis back off until the switches are opened
AxisX.StepDirection = true;
AxisY.StepDirection = true;
AxisZ.StepDirection = true;
xSeeking = findX;
ySeeking = findY;
zSeeking = findZ;
Thread.Sleep(500);
while (xSeeking || ySeeking || zSeeking)
{
if (Program.EStopCondition)
{
return;
}
xSeeking = xSeeking && !AxisX.ResetLimitReached();
ySeeking = ySeeking && !AxisY.ResetLimitReached();
zSeeking = zSeeking && !AxisZ.ResetLimitReached();
if (xSeeking)
{
AxisX.Step();
}
if (ySeeking)
{
AxisY.Step();
}
if (zSeeking)
{
AxisZ.Step();
}
DelayBy(delaySlow);
}
IgnoreLimitSwitches = wasIgnoringLimits;
}