Now that the machine itself can navigate autonomously, it's time to get the weeding mechanism doing the same.

In the last log, I got the machine to recognise a barcode, which can be used to stop the machine and allow a weeding routine to be carried out.

First task is to get the X,Y and Z axis's to 'index' or 'register' on limit switches so that it knows exactly where it is before it starts trying to do a task.

The code to achieve this fairly simple and no special libraries are used. The only deviation from my normal procedure was using a 30 ms delay at one point, which will probably be replaced with a 'millis' or 'micros' command which will then allow all the axes to be registered simultaneously.

void CNC_SETUP()
{  
  unsigned long currentMicros = micros();
//////////////////////////////////////////////////////////////////////////////////////////
  speedCNCX = 1600;                                         // 1 = one Hz.
  XZeroingStepsTotal = 5000;
  dirStateCNCX = LOW;                                       // LOW is Forwards.

  // controlState==HIGH is autonomous mode.
  // Initial movement forward for zeroing:
  if((controlState==HIGH)&&(XZeroingState==LOW))            // Forwards and backwards switch open.
  {
    XZeroingStep=0;
    intervalCNCX = 1000000/speedCNCX;                       // interval is smaller for faster speed.
    if ((currentMicros - previousMicrosCNCX) >= intervalCNCX)
    {
      LSFX = Fast_digitalRead(49);                          // Limit switch X forwards
      if (stepStateCNCX == LOW)
      {
        stepStateCNCX = HIGH;
      }
      else
      {
        stepStateCNCX = LOW;
      }
      //DEBUG_PORT.print("XZeroingState =    ");DEBUG_PORT.println(XZeroingState);
      digitalWrite(53,dirStateCNCX);
      digitalWrite(35,stepStateCNCX);
      digitalWrite(39,stepStateCNCX);                        // Orange LED
      previousMicrosCNCX = currentMicros;
    }
  }
  else
  {
    digitalWrite(35,LOW);
  }                                                           // Initial movement forward for zeroing ends
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////  
  if((LSFX==HIGH)&&(controlState==HIGH))                       // Either x switches closed autonomous(HGH)
  {
    delay(30);                                              // Need this delay for reliable operation of switch for some reason.
    XZeroingState=HIGH;
  }
  if(controlState==LOW)
  {
    XZeroingState=LOW;
  }
  if((XZeroingState==HIGH)&&(XZeroingStepsTotal > XZeroingStep))
  {
    dirStateCNCX = HIGH;                                     // LOW is Forwards.
    if((LSBX==HIGH)&&(controlState==HIGH))                   //  backwards switch open.
    {
      intervalCNCX = 1000000/speedCNCX;                      // interval is smaller for faster speed.
      if ((currentMicros - previousMicrosCNCX) >= intervalCNCX)
      {
        XZeroingStep++;
        LSFX = Fast_digitalRead(49);                          // Limit switch X forwards
        if (stepStateCNCX == LOW)
        {
          stepStateCNCX = HIGH;
        }
        else
        {
          stepStateCNCX = LOW;
        }
        //DEBUG_PORT.print("XZeroingState =    ");DEBUG_PORT.println(XZeroingState);
        //DEBUG_PORT.print("XZeroingStep  =    ");DEBUG_PORT.println(XZeroingStep);
        digitalWrite(53,dirStateCNCX);
        digitalWrite(35,stepStateCNCX);
        digitalWrite(39,stepStateCNCX);                        // Orange LED
        previousMicrosCNCX = currentMicros;
      }
    }
    else
    {
      digitalWrite(35,LOW);
    }     
  }             // if(XZeroing == HIGH)
////////////////////////////////////////////////////////////////////////////////////////
}               // CNC