Homing routine, increased precision.

[ericweiner]

I would like to improve the precision of homing by doing the following:

• Move to reference switch at speed
• once tripped, stop, and reverse off slowly, stop when switch turns off. Note position
• Move back in the original direction until switch turns back on. Stop. Note position
• Home = average of the two positions.

This can be used on XYZ and turret.

Trinamic calls this "mode 4" in their regular motor controllers. (you can see this in their firmware reference manual here:

https://www.trinamic.com/fileadmin/assets/Products/Modules_Documents/TMCM-3230-TMCL_firmware_manual_fw1.13_rev1.11.pdf

on page 122

[ericweiner]

Turret homing will need to be slightly different. In normal use, limit sensors will need to be turned OFF. During homing, they will need to be turned ON (but only during homing... The turret can spin freely.

They may also need to be other adaptations made

[ericweiner]

This has all been implemented as of 4/2023