[WIP] notice: take care when homing #6
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take time writing direction, reading home
ddkohler
commented
Jan 26, 2026
firmware/firmware.ino
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| if (digitalRead(HOME) == 0) remaining[i] = 0; | ||
| setSelect(i); | ||
| // read homed twice to make sure | ||
| if (carefulReadHome()) remaining[i] = 1; // go one past the limit to avoid unstable readings |
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note: step of 1 guards against hysteresis
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this firmware is being used on fs table atm |
ddkohler
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The homing signals can exhibit hysteresis, so a more stable solution is to take care when measuring the HOME level, and also to overshoot the first measured instance of home.
Also, it seems important to take care when stepping that motor steps are given adequate time before the next step. In the recently-introduced non-blocking main loop, it was never guaranteed that there was a reasonable wait time between step commands.
This is a first example and changes were grown into this branch through troubleshooting; it is likely that some of the changes introduced here are not necessary. Hopefully we can troubleshoot different aspects of these changes before merging.