home_OL_stepper
Description
Starts the homing procedure for a open-loop stepper motor. Because open-loop steppers do not have any sensor feedback, they home by travelling backwards their maximum axis length in units of counts. This procedure ensures the stepper will start from a known position. Using this method often results in the axis running against the hardstop of the home position for some portion of the home procedure, causing a buzz. This sound is intentional and safe.
Signature
home_OL_stepper(self, axis: int, home_length: int, vel: int = 1000, accel: int = 50000)
Parameters
axis: int
The axis of the open-loop stepper to home, [0, 7].
home_length: int
The maximum length of travel of the axis in units of counts. I.e., the number of counts of backwards travel to move in the worst-case scenario to ensure the axis reaches the home position.
vel: int, optional
Max velocity of the move in units of counts per second [0, 100000]. Values [0, 100] are interpreted as a percentage of the maximum velocity (100,000 cts/s). If the accel parameter is not given, the acceleration will be set to 10x the velocity in units of cts/s². Note velocity scaling may occur, as explained in goto function description.
accel: int, optional
Constant acceleration of the axis to reach the given velocity, in units of counts per second² [0, 500000]. Values [0, 100] are interpreted as a percentage of the maximum acceleration (500,000 cts/s²).
Example