Merge pull request #589 from doudar/home-safety

Added a couple safety features to homing

.github/workflows/update-changelog.yml

@@ -14,13 +14,13 @@ jobs:
       pull-requests: write
 
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           fetch-depth: 0
           ref: ${{ github.event.pull_request.head.ref }}
 
       - name: Set up Python
-        uses: actions/setup-python@v4
+        uses: actions/setup-python@v5
         with:
           python-version: '3.x'
 

CHANGELOG.md

@@ -8,12 +8,22 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 ## [Unreleased]
 
 ### Added
-- Knob homing if calibrate trainer is selected in an app. 
 
 ### Changed
 
 ### Hardware
 
+## [24.11.5]
+
+### Added
+- Knob homing if calibrate trainer is selected in an app.
+
+### Changed
+- Added backing off of the stop before we test to prevent runaway grinding during homing. 
+- User can abort homing by pressing shifter. 
+
+### Hardware
+
 ## [24.10.30]
 
 ### Added

src/Main.cpp

@@ -570,18 +570,27 @@ void SS2K::goHome(bool bothDirections) {
   vTaskDelay(50 / portTICK_PERIOD_MS);
   driver.ihold((uint8_t)(1));
   vTaskDelay(50 / portTICK_PERIOD_MS);
-  this->updateStepperSpeed(1500);
-  bool stalled  = false;
   int threshold = 0;
-  vTaskDelay(1000 / portTICK_PERIOD_MS);
+  bool stalled  = false;
   if (bothDirections) {
+    // Back off limit in case we are alread here.
+    stepper->move(-userConfig->getShiftStep());
+    while (stepper->isRunning()) {
+      vTaskDelay(50 / portTICK_PERIOD_MS);
+    }
+    this->updateStepperSpeed(1500);
+    vTaskDelay(500 / portTICK_PERIOD_MS);
     stepper->runForward();
     vTaskDelay(250 / portTICK_PERIOD_MS);  // wait until stable
     threshold = driver.SG_RESULT();        // take reading
     Serial.printf("%d ", driver.SG_RESULT());
     vTaskDelay(250 / portTICK_PERIOD_MS);
     while (!stalled) {
-      // stalled = (threshold < 200); // Were we already at the stop?
+      if (abs(rtConfig->getShifterPosition() - ss2k->lastShifterPosition)) {  // let the user abort with the shift button.
+        userConfig->setHMin(INT32_MIN);
+        userConfig->setHMax(INT32_MIN);
+        return;
+      }
       stalled = (driver.SG_RESULT() < threshold - 100);
     }
     stalled = false;
@@ -591,13 +600,25 @@ void SS2K::goHome(bool bothDirections) {
     rtConfig->setMaxStep(stepper->getCurrentPosition() - 200);
     SS2K_LOG(MAIN_LOG_TAG, "Max Position found: %d.", rtConfig->getMaxStep());
     stepper->enableOutputs();
+  } else {  // Back off limit in case we are alread here.
+    stepper->move(userConfig->getShiftStep());
+    while (stepper->isRunning()) {
+      vTaskDelay(50 / portTICK_PERIOD_MS);
+    }
+    this->updateStepperSpeed(1500);
+    vTaskDelay(500 / portTICK_PERIOD_MS);
   }
   stepper->runBackward();
   vTaskDelay(250 / portTICK_PERIOD_MS);
   threshold = driver.SG_RESULT();
   Serial.printf("%d ", driver.SG_RESULT());
   vTaskDelay(250 / portTICK_PERIOD_MS);
   while (!stalled) {
+    if (abs(rtConfig->getShifterPosition() - ss2k->lastShifterPosition)) {  // let the user abort with the shift button.
+      userConfig->setHMin(INT32_MIN);
+      userConfig->setHMax(INT32_MIN);
+      return;
+    }
     stalled = (driver.SG_RESULT() < threshold - 75);
   }
   stepper->forceStop();