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@@ -547,6 +547,9 @@ def home(timeout=90):
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def home_internal():
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nonlocal homing_success
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+ homing_speed = 400
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+ if state.table_type == 'dune_weaver_mini':
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+ homing_speed = 100
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try:
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if state.homing == 1:
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# Mode 1: Sensor-based homing using $H
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@@ -599,21 +602,9 @@ def home(timeout=90):
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homing_complete.set()
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return
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- # Send x0 y0 to zero both positions using send_grbl_coordinates
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- logger.info("Zeroing positions with x0 y0")
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-
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- # Run async function in new event loop
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- loop = asyncio.new_event_loop()
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- asyncio.set_event_loop(loop)
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- try:
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- # Send x0 y0 command (G1 X0 Y0)
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- result = loop.run_until_complete(send_grbl_coordinates(0, 0, 600))
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- if result == False:
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- logger.error("Position zeroing failed - send_grbl_coordinates returned False")
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- homing_complete.set()
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- return
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- finally:
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- loop.close()
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+ # Send x0 y0 to zero both positions
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+ logger.info(f"Zeroing positions with x0 y0 f{homing_speed}")
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+ state.conn.send(f"x0 y0 f{homing_speed}\n")
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# Wait for idle state after zeroing
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logger.info("Waiting for device to reach idle state after position zeroing...")
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@@ -632,11 +623,6 @@ def home(timeout=90):
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logger.info(f"Sensor homing completed - theta set to {state.angular_homing_offset_degrees}° ({offset_radians:.3f} rad), rho=0")
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else:
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- # Mode 0: Crash homing for radial axis (Y)
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- homing_speed = 400
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- if state.table_type == 'dune_weaver_mini':
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- homing_speed = 120
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-
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logger.info(f"Using crash homing mode at {homing_speed} mm/min")
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# Run async function in new event loop
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tuanchris