Grbl_Esp32
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bdring
Better homing for the midTbot
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.
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.
The cause of the PenDown when homing was that the Z axis was not specified in DEFAULT_DIRECTION_INVERT_MASK.