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@@ -492,10 +492,18 @@ def home(timeout=60):
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reed_switch_triggered = False
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while current_theta < max_theta:
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- # Check reed switch
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+ # Check reed switch before moving
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if reed_switch.is_triggered():
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logger.info(f"Reed switch triggered at theta={current_theta}")
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reed_switch_triggered = True
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+ # Stop motion immediately
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+ try:
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+ if state.conn and state.conn.is_connected():
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+ state.conn.send("!\n") # Send feed hold to stop immediately
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+ time.sleep(0.1)
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+ logger.info("Motion stopped - reed switch detected")
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+ except Exception as stop_err:
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+ logger.error(f"Error stopping motion: {stop_err}")
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break
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# Move to next position
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@@ -507,6 +515,20 @@ def home(timeout=60):
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# Small delay to allow reed switch to settle
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time.sleep(0.05)
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+ # Check reed switch immediately after move completes
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+ if reed_switch.is_triggered():
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+ logger.info(f"Reed switch triggered at theta={current_theta} (after move)")
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+ reed_switch_triggered = True
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+ # Stop motion immediately
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+ try:
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+ if state.conn and state.conn.is_connected():
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+ state.conn.send("!\n") # Send feed hold to stop immediately
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+ time.sleep(0.1)
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+ logger.info("Motion stopped - reed switch detected after move")
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+ except Exception as stop_err:
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+ logger.error(f"Error stopping motion: {stop_err}")
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+ break
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+
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if not reed_switch_triggered:
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logger.warning("Completed full rotation without reed switch trigger")
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tuanchris