continue;
}
+ // setup the homing array
homing_info_t hinfo;
// init homing struct
// potentially home A B and C individually
if(homing_axis.size() > 3){
- for (size_t i = A_AXIS; i <= C_AXIS; ++i) {
+ for (size_t i = A_AXIS; i < homing_axis.size(); ++i) {
if(axis_to_home[i]) {
// now home A B or C
float delta[i+1];
}
- // TODO should check that the endstops were hit and it did not stop short for some reason
+ // TODO: should check that the endstops were hit and it did not stop short for some reason
// we did not complete movement the full distance if we hit the endstops
THEROBOT->reset_position_from_current_actuator_position();
// wait until finished
THECONVEYOR->wait_for_idle();
- // TODO should check that the endstops were hit and it did not stop short for some reason
+ // TODO: should check that the endstops were hit and it did not stop short for some reason
// we did not complete movement the full distance if we hit the endstops
THEROBOT->reset_position_from_current_actuator_position();
void Endstops::handle_park(Gcode * gcode)
{
- // TODO spec says if XYZ specified move to them first then move to MCS of specifed axis
+ // TODO: spec says if XYZ specified move to them first then move to MCS of specifed axis
THEROBOT->push_state();
THEROBOT->inch_mode = false; // needs to be in mm
THEROBOT->absolute_mode = true;
// make sure the probe is defined and not already triggered before moving motors
if(!this->pin.connected()) {
- gcode->stream->printf("ZProbe not connected.\n");
+ gcode->stream->printf("ZProbe pin not configured.\n");
return;
}
if(this->pin.get()) {