Algodoo

Good work on the scene.

Just a note about the homing procedure depicted in your scene. It seems rather odd to me. I am familiar with the traditional stepper homing procedure as shown here: Step Homing Demo Do you know of any actual real world equipment that uses the homing procedure in your scene? Why the sawtooth motion while approaching the Home sensor?

I am unfamiliar with any traditional stepper homing procedure, so I just made it the way I thought it should be. Every time the homing switch changes state, the motor reverses direction and the step size is cut in half. The motor stops after the step size is below a specified precision.

Q: Do you know of any actual real world equipment that uses the homing procedure in your scene?
A: Yes, and it's smoother than this scene depicts.

Q: Why the saw-tooth motion while approaching the Home sensor?
A: Because I wanted the move increment to be smaller than the light blocker flag, because the motor acceleration is limited to a set value, and because I designed it as a home sensor initially and added limit functionality later.

Looks like the "traditional" stepper homing procedure is faster. I may try that.

Your scene brought back many good memories from my younger days when I worked for a number of industrial automation companies. Many of the machine tools that I helped to design were multi-axis, and most of the larger machines used servo motors. Steppers were used with mainly small table-top machines. We also implemented a number of different limit switch and Home switch configurations. The more complex machines used a combination of position loop and velocity loop control schemes. I was one of those lucky people who loved the work that they did!

Nice update! Now it homes in a manner that I know and love.

Thanks for the comments, suggestions, and info.