Treat limit switches we are moving towards and away from differently

4DrobotServer/4DrobotServer_config.h

@@ -108,10 +108,10 @@ const bool    stepper_switch_active          = LOW;    //On limit switch when pi
 const bool    stepper_switch_inactive        = HIGH;     //On limit switch when pin inactive
 
 //TODO: Tune timings
-const unsigned int  stepper_onTime           = 25;  // [us] How long to hold the step pin HIGH
-const unsigned int  stepper_delay_fast       = 25;  // [us] How long to wait between steps when moving fast
+const unsigned int  stepper_onTime           = 25;   // [us] How long to hold the step pin HIGH
+const unsigned int  stepper_delay_fast       = 2000; // [us] How long to wait between steps when moving fast
 const unsigned int  stepper_delay_slow       = 2000; // [us] How long to wait between steps when moving slow
-const unsigned int  stepper_accelerate_steps = 100; // When accelerating, how many steps to use for ramp
+const unsigned int  stepper_accelerate_steps = 100;  // When accelerating, how many steps to use for ramp
 
 // When at high speed, ramp down to slow speed when
 // pos < accelerate_steps+slowzone or pos > (rail_length-accelerate_steps-slowzone)
@@ -120,12 +120,15 @@ const unsigned long int  stepper_rail_length[]    = {4900,6800,1760}; // [steps]
 const unsigned long int  stepper_slowzone_steps   = 50;               // [steps] Take it easy when approaching limit switches
 
 //Interlocks
-const long int           stepper_Zpos_unlockXY    = 1400;              // [steps] Only allow XY movements when
-                                                                 //         Zpos < Zpos_unlockXY and Z axis
-                                                                 //         in absolute mode
-const unsigned long int  stepper_onlimit_steps    = 100;               // [steps] Number of steps to allow movement
-                                                                 //         per command when a limit switch
-                                                                 //         is active
+const long int           stepper_Zpos_unlockXY         = 1400;   // [steps] Only allow XY movements when
+                                                                 //          Zpos < Zpos_unlockXY and Z axis is in absolute mode
+const unsigned long int  stepper_onlimit_steps_towards = 2;      // [steps] Number of steps to allow when a limit switch is active
+                                                                 //         (moving towards the switch, i.e. allow
+                                                                 //          this many hits before stopping in case of spurious hits)
+const unsigned long int  stepper_onlimit_steps_away    = 100;    // [steps] Number of steps to allow when a limit switch is active
+                                                                 //         (moving away from the switch, i.e. allow
+                                                                 //          this many hits before stopping in order to
+                                                                 //          allow escape from switch)
 // ***** INTERNAL CONFIGS **********************
 
 // Uncomment to include extra debug messages about parser to Serial