From: Joseph Coffland <joseph@cauldrondevelopment.com>
Date: Sun, 15 Jan 2017 05:31:25 +0000 (-0800)
Subject: Remove soft limit magic number
X-Git-Url: https://git.buildbotics.com/?a=commitdiff_plain;h=e60241bace600fbf65757a3e87ec5457cdff4670;p=bbctrl-firmware

Remove soft limit magic number
---

diff --git a/avr/src/axis.c b/avr/src/axis.c
index afcfc49..6da42da 100644
--- a/avr/src/axis.c
+++ b/avr/src/axis.c
@@ -174,8 +174,8 @@ AXIS_SET(homed, bool)
 AXIS_GET(homing_mode, homing_mode_t, HOMING_DISABLED)
 AXIS_SET(homing_mode, homing_mode_t)
 AXIS_GET(radius, float, 0)
-AXIS_GET(travel_min, float, DISABLE_SOFT_LIMIT)
-AXIS_GET(travel_max, float, DISABLE_SOFT_LIMIT)
+AXIS_GET(travel_min, float, 0)
+AXIS_GET(travel_max, float, 0)
 AXIS_GET(search_velocity, float, 0)
 AXIS_GET(latch_velocity, float, 0)
 AXIS_GET(zero_backoff, float, 0)
diff --git a/avr/src/config.h b/avr/src/config.h
index 68e41e2..a7f3717 100644
--- a/avr/src/config.h
+++ b/avr/src/config.h
@@ -98,8 +98,6 @@ enum {
 #define SWITCHES                10 // number of supported switches
 #define PWMS                     2 // number of supported PWM channels
 
-#define DISABLE_SOFT_LIMIT       -1000000
-
 
 // Motor settings.  See motor.c
 #define MOTOR_MAX_CURRENT        1.0  // 1.0 is full power
@@ -139,12 +137,6 @@ enum {
 #define M4_POWER_MODE            MOTOR_POWER_MODE
 
 
-// Switch settings.  See switch.c
-#define SWITCH_INTLVL            PORT_INT0LVL_MED_gc
-#define SW_LOCKOUT_TICKS         250 // ms
-#define SW_DEGLITCH_TICKS        30  // ms
-
-
 // Machine settings
 //#define STEP_CORRECTION                        // Enable step correction
 #define MAX_STEP_CORRECTION      4             // In steps per segment
@@ -231,6 +223,18 @@ enum {
 #define GCODE_DEFAULT_ARC_DISTANCE_MODE INCREMENTAL_MODE
 
 
+// Arc
+#define ARC_RADIUS_ERROR_MAX   1.0   // max mm diff between start and end radius
+#define ARC_RADIUS_ERROR_MIN   0.005 // min mm where 1% rule applies
+#define ARC_RADIUS_TOLERANCE   0.001 // 0.1% radius variance test
+
+
+// Switch settings.  See switch.c
+#define SWITCH_INTLVL            PORT_INT0LVL_MED_gc
+#define SW_LOCKOUT_TICKS         250 // ms
+#define SW_DEGLITCH_TICKS        30  // ms
+
+
 // Motor ISRs
 #define STALL_ISR_vect PORTA_INT1_vect
 #define FAULT_ISR_vect PORTF_INT1_vect
@@ -307,12 +311,6 @@ enum {
 #define INPUT_BUFFER_LEN       255 // text buffer size (255 max)
 
 
-// Arc
-#define ARC_RADIUS_ERROR_MAX   1.0   // max mm diff between start and end radius
-#define ARC_RADIUS_ERROR_MIN   0.005 // min mm where 1% rule applies
-#define ARC_RADIUS_TOLERANCE   0.001 // 0.1% radius variance test
-
-
 // Planner
 /// Should be at least the number of buffers required to support optimal
 /// planning in the case of very short lines or arc segments.  Suggest no less
diff --git a/avr/src/machine.c b/avr/src/machine.c
index 5deffdc..1fde72d 100644
--- a/avr/src/machine.c
+++ b/avr/src/machine.c
@@ -339,8 +339,7 @@ stat_t mach_test_soft_limits(float target[]) {
     // min == max means no soft limits
     if (fp_EQ(min, max)) continue;
 
-    if ((min > DISABLE_SOFT_LIMIT && target[axis] < min) ||
-        (max > DISABLE_SOFT_LIMIT && target[axis] > max))
+    if (target[axis] < min || max < target[axis])
       return STAT_SOFT_LIMIT_EXCEEDED;
   }