From f1aefccbeb6ada94d5f542529fdddb1748cc9f0b Mon Sep 17 00:00:00 2001 From: kpetersn Date: Thu, 29 Mar 2018 10:48:42 -0500 Subject: [PATCH] Added comments about homing --- motorApp/AMCISrc/ANF2Driver.cpp | 3 +++ 1 file changed, 3 insertions(+) diff --git a/motorApp/AMCISrc/ANF2Driver.cpp b/motorApp/AMCISrc/ANF2Driver.cpp index 1424c204..d6a90522 100644 --- a/motorApp/AMCISrc/ANF2Driver.cpp +++ b/motorApp/AMCISrc/ANF2Driver.cpp @@ -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; }