Better homing for the midTbot #914
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I suspect that DEFAULT_X_HOMING_MPOS is a typo for DEFAULT_Z_HOMING_MPOS. However, even if this is fixed, the current implementation does not seem to be able to achieve PenUp after Homing simply by changing the HOMING_MPOS setting. Therefore, I decided to remove this setting.
Since midTbot's Z axis is servo, I consider Z axis homing unnecessary.
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It is good to hear from you again. I will look at this when I get a chance. The last time I checked, I think it was working OK. You should be able to change the homing direction based on the $Homing/DirInvert and $Home/Mpos settings. |
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The cause of the PenDown when homing was that the Z axis was not specified in DEFAULT_DIRECTION_INVERT_MASK. |
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Hi Bart.
It's been a while since I've updated the firmware on my lovely midTbot.
I feel that the homing behavior of the current midTbot is a little different from what you intended, so I suggest some changes.
(1) Mpos of X seems to be shifted from its original value when homing.
It seems to be caused by a typo in midtbot.h.
It reads as if it was originally intended to PenUp after homing, but that doesn't seem to work in the current implementation.
(2) PenDown occurs when homing.
In the current implementation, the Z axis is homed first, so it is PenDown (Z is set to 0) first.Then, since it is PenDown, it will homing the Y and X axis while drawing with the pen.
So in the current implementation, I would suggest not homing the Z axis with $H.
If you must, you can handle it separately with $HZ.
The cause of the PenDown when homing was that the Z axis was not specified in DEFAULT_DIRECTION_INVERT_MASK.
Thank you for your consideration.