Added comments about homing

2018-03-29 10:48:42 -05:00
parent d760620579
commit f1aefccbeb
1 changed files with 3 additions and 0 deletions
@@ -732,11 +732,14 @@ asynStatus ANF2Axis::home(double minVelocity, double maxVelocity, double acceler
  // This sets indices 2 & 3 of motionReg_
  status = sendAccelAndVelocity(acceleration, maxVelocity);

+  // Note: if the home input is active when the home command is sent, the axis will appear to move in the wrong direction
  if (forwards) {
    printf(" ** HOMING FORWARDS **\n");
+    // The +Find Home (CW) command
    motionReg_[0] = 0x20 << 16;
  } else {
    printf(" ** HOMING REVERSE **\n");
+    // The -Find Home (CCW) command 
    motionReg_[0] = 0x40 << 16;
  }