From 0b6f5705d52f108d796057cd9d479070fd97e62a Mon Sep 17 00:00:00 2001
From: Tim Evers <tim.evers@gmail.com>
Date: Wed, 30 Aug 2017 20:10:04 +0200
Subject: [PATCH] Calibration/homing speed parameter

---
 src/StepperControl.cpp     | 6 +++---
 src/StepperControlAxis.cpp | 8 +++++---
 src/StepperControlAxis.h   | 3 ++-
 3 files changed, 10 insertions(+), 7 deletions(-)

diff --git a/src/StepperControl.cpp b/src/StepperControl.cpp
index d867b2a..9f480a6 100644
--- a/src/StepperControl.cpp
+++ b/src/StepperControl.cpp
@@ -1243,9 +1243,9 @@ void StepperControl::loadMotorSettings()
 
   CurrentState::getInstance()->setStepsPerMm(stepsPerMm[0], stepsPerMm[1], stepsPerMm[2]);
 
-  axisX.loadMotorSettings(speedMax[0], speedMin[0], stepsAcc[0], timeOut[0], homeIsUp[0], motorInv[0], endStInv[0], MOVEMENT_INTERRUPT_SPEED, motor2Enbl[0], motor2Inv[0], endStEnbl[0], motorStopAtHome[0], motorMaxSize[0], motorStopAtMax[0]);
-  axisY.loadMotorSettings(speedMax[1], speedMin[1], stepsAcc[1], timeOut[1], homeIsUp[1], motorInv[1], endStInv[1], MOVEMENT_INTERRUPT_SPEED, motor2Enbl[1], motor2Inv[1], endStEnbl[1], motorStopAtHome[1], motorMaxSize[1], motorStopAtMax[1]);
-  axisZ.loadMotorSettings(speedMax[2], speedMin[2], stepsAcc[2], timeOut[2], homeIsUp[2], motorInv[2], endStInv[2], MOVEMENT_INTERRUPT_SPEED, motor2Enbl[2], motor2Inv[2], endStEnbl[2], motorStopAtHome[2], motorMaxSize[2], motorStopAtMax[2]);
+  axisX.loadMotorSettings(speedMax[0], speedMin[0], speedHome[0], stepsAcc[0], timeOut[0], homeIsUp[0], motorInv[0], endStInv[0], MOVEMENT_INTERRUPT_SPEED, motor2Enbl[0], motor2Inv[0], endStEnbl[0], motorStopAtHome[0], motorMaxSize[0], motorStopAtMax[0]);
+  axisY.loadMotorSettings(speedMax[1], speedMin[1], speedHome[1], stepsAcc[1], timeOut[1], homeIsUp[1], motorInv[1], endStInv[1], MOVEMENT_INTERRUPT_SPEED, motor2Enbl[1], motor2Inv[1], endStEnbl[1], motorStopAtHome[1], motorMaxSize[1], motorStopAtMax[1]);
+  axisZ.loadMotorSettings(speedMax[2], speedMin[2], speedHome[2], stepsAcc[2], timeOut[2], homeIsUp[2], motorInv[2], endStInv[2], MOVEMENT_INTERRUPT_SPEED, motor2Enbl[2], motor2Inv[2], endStEnbl[2], motorStopAtHome[2], motorMaxSize[2], motorStopAtMax[2]);
 
   primeMotors();
 }
diff --git a/src/StepperControlAxis.cpp b/src/StepperControlAxis.cpp
index b8ef2f2..6349ee6 100644
--- a/src/StepperControlAxis.cpp
+++ b/src/StepperControlAxis.cpp
@@ -101,7 +101,7 @@ unsigned int StepperControlAxis::calculateSpeed(long sourcePosition, long curren
   unsigned long halfway = ((endPos - staPos) / 2) + staPos;
   //unsigned long halfway = ((destinationPosition - sourcePosition) / 2) + sourcePosition;
 
-  // Set the minimum speed if the position would be out of bounds
+  // Set the homing speed if the position would be out of bounds
   if (
         (curPos < staPos || curPos > endPos)
         // || 
@@ -110,7 +110,8 @@ unsigned int StepperControlAxis::calculateSpeed(long sourcePosition, long curren
         // (!motorHomeIsUp && currentPosition <= 0) || (motorHomeIsUp && currentPosition >= 0) ||)
      )
   {
-    newSpeed = minSpeed;
+    newSpeed = motorSpeedHome;
+    //newSpeed = minSpeed;
     movementCrawling = true;
     movementMoving = true;
   }
@@ -395,13 +396,14 @@ void StepperControlAxis::StepperControlAxis::loadPinNumbers(int step, int dir, i
 }
 
 void StepperControlAxis::loadMotorSettings(
-    long speedMax, long speedMin, long stepsAcc, long timeOut, bool homeIsUp, bool motorInv,
+    long speedMax, long speedMin, long speedHome, long stepsAcc, long timeOut, bool homeIsUp, bool motorInv,
     bool endStInv, long interruptSpeed, bool motor2Enbl, bool motor2Inv, bool endStEnbl, 
     bool stopAtHome, long maxSize, bool stopAtMax)
 {
 
   motorSpeedMax = speedMax;
   motorSpeedMin = speedMin;
+  motorSpeedHome = speedHome;
   motorStepsAcc = stepsAcc;
   motorTimeOut = timeOut;
   motorHomeIsUp = homeIsUp;
diff --git a/src/StepperControlAxis.h b/src/StepperControlAxis.h
index 7cde773..564692a 100644
--- a/src/StepperControlAxis.h
+++ b/src/StepperControlAxis.h
@@ -24,7 +24,7 @@ public:
   StepperControlAxis();
 
   void loadPinNumbers(int step, int dir, int enable, int min, int max, int step2, int dir2, int enable2);
-  void loadMotorSettings(long speedMax, long speedMin, long stepsAcc, long timeOut, bool homeIsUp, bool motorInv, bool endStInv, long interruptSpeed, bool motor2Enbl, bool motor2Inv, bool endStEnbl, bool stopAtHome, long maxSize, bool stopAtMax);
+  void loadMotorSettings(long speedMax, long speedMin, long speedHome, long stepsAcc, long timeOut, bool homeIsUp, bool motorInv, bool endStInv, long interruptSpeed, bool motor2Enbl, bool motor2Inv, bool endStEnbl, bool stopAtHome, long maxSize, bool stopAtMax);
   void loadCoordinates(long sourcePoint, long destinationPoint, bool home);
   void setMaxSpeed(long speed);
 
@@ -102,6 +102,7 @@ private:
   // motor settings
   long motorSpeedMax;       // maximum speed in steps per second
   long motorSpeedMin;       // minimum speed in steps per second
+  long motorSpeedHome;      // homing speed in steps per second
   long motorStepsAcc;       // number of steps used for acceleration
   long motorTimeOut;        // timeout in seconds
   bool motorHomeIsUp;       // direction to move when reached 0 on axis but no end stop detected while homing