pipetten erster test

otto/otto.ino

@@ -194,7 +194,7 @@ int locP_in_steps;
 #ifdef jfs
 int locX_max = 27000;
 int locY_max = -31200;
-int locZ_max = 4000;
+int locZ_max = 4400;
 #endif
 
 // variables to hold LED data
@@ -593,6 +593,31 @@ void coordinateMove(){
     Serial.print("Z Position ");
     Serial.println( stepperZ.currentPosition());    
   }
+  else if (strcmp(mode, "JZ") == 0){
+
+  //Homing Z at min
+   stepperZ.setMaxSpeed(5000);
+   stepperZ.setAcceleration(2000);
+   int initial_homing = stepperZ.currentPosition();
+   homeZ = false;
+   while (homeZ == false){
+      initial_homing--;  
+      stepperZ.moveTo(initial_homing);
+      stepperZ.run(); 
+      if (digitalRead(Z_LIMIT) != 1) {        
+        delay(1);
+        if (digitalRead(Z_LIMIT) !=1){
+          homeZ = true;
+        }   
+      }
+    }
+    stepperZ.setMaxSpeed(10000);
+    stepperZ.setAcceleration(5000);
+    stepperZ.setCurrentPosition(0);
+   
+    stepperP.setCurrentPosition(0);
+    Serial.println("<Z Homed>");
+}
     
   //***** G28 - Homing Cycle *****
   // For this code to work as written the limit switches must be located at

stepperTest/stepperTest.ino

@@ -1,10 +1,10 @@
 int stepCounter;
 int steps = 2000;
 
-  #define X_STEP_PIN                            54
-  #define X_DIR_PIN                             55
-  #define X_EN_PIN                              38
-  #define X_CS_PIN                              53 // EXP2_07_PIN
+  #define X_STEP_PIN                           26 // 54
+  #define X_DIR_PIN                            28 // 55
+  #define X_EN_PIN                             24 // 38
+  #define X_CS_PIN                             42 // EXP2_07_PIN
   #define X_LIMIT                               3  // X_MIN_PIN
 
 void setup()