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hzeller / beagleg

G-code interpreter and stepmotor controller for crazy fast coordinated moves of up to 8 steppers. Uses the Programmable Realtime Unit (PRU) of the Beaglebone.
http://beagleg.org/
GNU General Public License v3.0
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E-Stop input is not checked #35

Closed bigguiness closed 6 years ago

bigguiness commented 6 years ago

Currently the E-Stop input is not being checked.

On my machine, the E-Stop is connected up to disable the motors but BeagleG does not check the input at any time (that I can see).

The proper handling of the E-Stop should be something like this (open for discussion):

When the E-Stop is active BeagleG should abort any motion and ignore any incoming commands (i.e. do an internal M0 to set the Software E-Stop) until the E-Stop is deactivated. Once deactivated motion should not be allowed until the Software E-Stop is cleared by an M999.

I think this will involve hooking up the M0/M999 codes so that commands are not added to the PRU queue when the machine is in E-Stop.

bigguiness commented 6 years ago

With commit: 46c4604b61fa09ae1ca1b4a61ff00ca7240b2117, E-Stop conditions (hard and soft) are now detected. Closing this issue.