home()

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#include "Motion86.h"

// Generate machine objects. You can use up to three machines, machine 0~2, each with three axes.

Machine machine(0);

// Stepper motor enable pin.

int EnablePin = 4;

void setup() {

  while (!Serial);

  pinMode(EnablePin, OUTPUT);

  // If necessary, the direction of the motion axis can be reversed.

  machine.config_ReverseDirection(AXIS_X);

  machine.config_ReverseDirection(AXIS_Y);

  // PPU (pulse per unit) is a virtual length unit, depending on different needs.

  // In this example, the unit length of the x-axis is set to 80 pulses, which corresponds to 1 mm in actual application.

  machine.config_PPU(AXIS_X, 80.0);

  machine.config_PPU(AXIS_Y, 80.0);

  machine.config_PPU(AXIS_Z, 1600.0);

  // Set the software limit of the machine movement.

  machine.config_PosLimit(AXIS_X, 0, 300);

  machine.config_PosLimit(AXIS_Y, 0, 200);

  machine.config_PosLimit(AXIS_Z, 0, 300);

  // Set the pin used by the limit switch to set the home point.

  machine.config_HomePins(2, 7, 8);

  // Before controlling, the machine must be turned on.

  machine.machineOn();

  // Set the default feed rate.

  machine.setDefaultFeedrate(400);

  // Start software limits.

  machine.enableSoftLimit();

  // Set the feed rate to return to the home point.

  machine.setHomeSpeed(1000, 1000, 200);

  // Start the stepper motor.

  digitalWrite(EnablePin, LOW);

  // Return to the home point defined by the limit switch.

  machine.home();

}

void loop() {

  //Motion control code...

}