Added _use_servos config item

This will allow servos and steppers to homing differently
bdring · Aug 11, 2023 · 7079eb4 · 7079eb4
1 parent 9ca4ad1
commit 7079eb4
Show file tree

Hide file tree

Showing 2 changed files with 8 additions and 6 deletions.
diff --git a/FluidNC/src/Kinematics/ParallelDelta.cpp b/FluidNC/src/Kinematics/ParallelDelta.cpp
@@ -77,6 +77,7 @@ namespace Kinematics {
         handler.item("homing_mpos_radians", _homing_mpos);
         handler.item("soft_limits", _softLimits);
         handler.item("max_z_mm", _max_z, -10000.0, 0.0);  //
+        handler.item("use_servos", _use_servos);
     }
 
     void ParallelDelta::init() {
@@ -282,6 +283,11 @@ namespace Kinematics {
     }
 
     bool ParallelDelta::kinematics_homing(AxisMask& axisMask) {
+
+        // only servos use custom homing. Steppers use limit switches
+        if (!_use_servos)
+            false;
+
         auto axes   = config->_axes;
         auto n_axis = axes->_numberAxis;
 

diff --git a/FluidNC/src/Kinematics/ParallelDelta.h b/FluidNC/src/Kinematics/ParallelDelta.h
@@ -20,12 +20,7 @@
 #endif
 
 namespace Kinematics {
-    // enum class KinematicError : uint8_t {
-    //     NONE               = 0,
-    //     OUT_OF_RANGE       = 1,
-    //     ANGLE_TOO_NEGATIVE = 2,
-    //     ANGLE_TOO_POSITIVE = 3,
-    // };
+
     class ParallelDelta : public Cartesian {
     public:
         ParallelDelta() = default;
@@ -78,6 +73,7 @@ namespace Kinematics {
         bool  _softLimits               = false;
         float _homing_mpos              = 0.0;
         float _max_z                    = 0.0;
+        bool  _use_servos               = true;  // servo use a special homing
 
         bool  delta_calcAngleYZ(float x0, float y0, float z0, float& theta);
         float three_axis_dist(float* point1, float* point2);