Homing with 2 inputs/sensors?

hitchhiker
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Elite Member

21 Aug 2025 20:23 #333766 by hitchhiker

Homing with 2 inputs/sensors? was created by hitchhiker

Hi!

i have here a axis which has 2 home sensors.
The first sensor is the reference.
the second is a sensor on the pulley.

how it works? Home to first sensor.. then go back until sensor 2 is active.

i the first sensor works on linuxcnc..then i add the second..
net index-sensor gpio001....
inet index-sensor joint...index-enable

but then i get error..

cant add i/o pin to index... its already output pin hm2_7192.0.gpio.005.in

in the ini i change the parameter for use index as true.. but this doesnt solve anything.

do i need to add a encoder in the bitfile or what is my failure??

thanks

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PCW
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21 Aug 2025 21:13 - 21 Aug 2025 21:31 #333767 by PCW

Replied by PCW on topic Homing with 2 inputs/sensors?

You cannot connect an output pin to joint.N.index-enable
because joint.N.index-enable pins are bidirectional ("Tri-State")

When index is used for homing, LinuxCNC expects to use encoder
hardware to detect the actual index pin and signal that detection
to LinuxCNC via the joint.N.index-enable pin. joint.N.index-enable
is used as a bidirectional signal, that is, when LinuxCNC detects the
coarse home position, it then sets joint.N.index-enable true. This signals
the hardware to enable index detection. When the index is detected,
the hardware normally does two things: it clears (sets to false)
joint.N.index-enable (signaling LinuxCNC that the index has been detected)
and normally also zeros the position.

Does this joint have encoder feedback or it this an open-loop step/dir system?

If no encoder (and you have an up-to-date LinuxCNC installation) , there is firmware
that supports homing to index in open loop step/dir systems, so instead of connecting
a GPIO pin to joint.N.index-enable you would connect to hm2_7i92.0.stepgen.NN.index-enable
to joint.N.index-enable.

Last edit: 21 Aug 2025 21:31 by PCW. Reason: correct card name

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hitchhiker
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22 Aug 2025 05:01 #333769 by hitchhiker

Replied by hitchhiker on topic Homing with 2 inputs/sensors?

Hi
Thanks for answer.
Its openloop. I think the second sensor that wait for the metal pin on the pulley makes the homing more accurate.

Sensor 1 rough homing to a reference marked area.
Sensor 2 then fine homing.
Call it 2 state homing?

Original is the secomd sensor used for 2 things..
Thing 1 homing accurate..
Thing 2 counts the pin everytime the pulley is turned full.
The full rotation means as example 400 steps done.. is the pin triggering the sensor befor or later then its out of position.
But i only want to use the secomd sensor for more precise homing.

This is not possible right? To make it possible it needs a special component or?

i found this:

github.com/mydani/linuxcnc_misc/blob/mai...e_index_stepdir.comp

looks like inside linuxcnc there is no other option.

thanks

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rodw
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22 Aug 2025 05:58 #333770 by rodw

Replied by rodw on topic Homing with 2 inputs/sensors?

It might not be a trivial solution, but you could write a custom home component that takes the two pins as input. eg rough, then fine.
Ref: linuxcnc.org/docs/stable/html/man/man9/homecomp.9.html
Linuxcnc does this using home_latch_velocity eg fast sensing, then slow for accuraccy on the one pin.

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PCW
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22 Aug 2025 13:26 #333775 by PCW

Replied by PCW on topic Homing with 2 inputs/sensors?

As I explained, it is possible with firmware that has a stepgen index enable pin
No custom components are needed.

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hitchhiker
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23 Aug 2025 06:56 - 23 Aug 2025 07:16 #333788 by hitchhiker

Replied by hitchhiker on topic Homing with 2 inputs/sensors?

Hi

If i understand correct... i must change the firmware on my 7i92?
I need to add encoder to the bitfile.. but only the index? So it must be a index that is coming from the stepgen.. i only know how to add stepgen with step and dir to the bitfile..

I run the stepgen in position mode ..not velocity..

So instead what i try with the gpio i need a index pin in the bitfile which is linked to the stepgen, right?

Sorry i am a little bit confused and doesnt understand it.. i use linuxcnc 2.9 and a mesa 7i92. Changing the bitfile/firmware is not a problem. But i look everytime to existing files and copy from them... and i cant find a documentation about it...

it should be look like:
IOPortTag & x"NN" & StepGenTag & StepGenIndexPin, "

but i never saw something like this...

thanks

Last edit: 23 Aug 2025 07:16 by hitchhiker.

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hitchhiker
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23 Aug 2025 08:24 - 23 Aug 2025 11:02 #333791 by hitchhiker

Replied by hitchhiker on topic Homing with 2 inputs/sensors?

ahhhhaaaaa...

i think i got the firmware fixed on my table/labor mesa 7i92....

to explain:

I have everytime i configurate a new machine or want to try something a mesa 7i92 for learning on my table...

i load the firmware file for the 7i96 and look into it and found the example where index on a stepgen was attached.

Download:
link to the 7i96 firmware files

then extract and look for:
PIN_7I96_StepIDXD_51.vhd

then i saw in the file:

(StepGenTag, x"C2", ClockLowTag, x"04", StepGenRateAddr&PadT, StepGenNumRegs, x"00", StepGenMPBitMask),

bingo!

i add the stuff to my 7i92 bitfile...

library IEEE;
use IEEE.std_logic_1164.all;  -- defines std_logic types
use IEEE.STD_LOGIC_ARITH.ALL;
use IEEE.STD_LOGIC_UNSIGNED.ALL;

-- Copyright (C) 2007, Peter C. Wallace, Mesa Electronics
-- http://www.mesanet.com
--
-- This program is is licensed under a disjunctive dual license giving you
-- the choice of one of the two following sets of free software/open source
-- licensing terms:
--
--    * GNU General Public License (GPL), version 2.0 or later
--    * 3-clause BSD License
-- 
--
-- The GNU GPL License:
-- 
--     This program is free software; you can redistribute it and/or modify
--     it under the terms of the GNU General Public License as published by
--     the Free Software Foundation; either version 2 of the License, or
--     (at your option) any later version.
-- 
--     This program is distributed in the hope that it will be useful,
--     but WITHOUT ANY WARRANTY; without even the implied warranty of
--     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
--     GNU General Public License for more details.
-- 
--     You should have received a copy of the GNU General Public License
--     along with this program; if not, write to the Free Software
--     Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301 USA
-- 
-- 
-- The 3-clause BSD License:
-- 
--     Redistribution and use in source and binary forms, with or without
--     modification, are permitted provided that the following conditions
--     are met:
-- 
--   * Redistributions of source code must retain the above copyright
--     notice, this list of conditions and the following disclaimer.
-- 
--   * Redistributions in binary form must reproduce the above
--     copyright notice, this list of conditions and the following
--     disclaimer in the documentation and/or other materials
--     provided with the distribution.
-- 
--   * Neither the name of Mesa Electronics nor the names of its
--     contributors may be used to endorse or promote products
--     derived from this software without specific prior written
--     permission.
-- 
-- 
-- Disclaimer:
-- 
--     THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
--     "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
--     LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
--     FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
--     COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
--     INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
--     BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
--     LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
--     CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
--     LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
--     ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
--     POSSIBILITY OF SUCH DAMAGE.
-- 

use work.IDROMConst.all;

package PIN_VMC100 is
    constant ModuleID : ModuleIDType :=( 
        (HM2DPLLTag,    x"00",    ClockLowTag,    x"01",    HM2DPLLBaseRateAddr&PadT,    HM2DPLLNumRegs,        x"00",    HM2DPLLMPBitMask),
        (WatchDogTag,    x"00",    ClockLowTag,    x"01",    WatchDogTimeAddr&PadT,        WatchDogNumRegs,        x"00",    WatchDogMPBitMask),
        (IOPortTag,        x"00",    ClockLowTag,    x"02",    PortAddr&PadT,                    IOPortNumRegs,            x"00",    IOPortMPBitMask),
        (QcountTag,        x"02",    ClockLowTag,    x"01",    QcounterAddr&PadT,            QCounterNumRegs,        x"00",    QCounterMPBitMask),
        (StepGenTag,    x"C2",    ClockLowTag,    x"04",    StepGenRateAddr&PadT,        StepGenNumRegs,        x"00",    StepGenMPBitMask),
        (PWMTag,        x"00",    ClockHighTag,    x"00",    PWMValAddr&PadT,                PWMNumRegs,                x"00",    PWMMPBitMask),
        (LEDTag,        x"00",    ClockLowTag,    x"01",    LEDAddr&PadT,                    LEDNumRegs,                x"00",    LEDMPBitMask),
        (NullTag,        x"00",    NullTag,            x"00",    NullAddr&PadT,                    x"00",                    x"00",    x"00000000"),
        (NullTag,        x"00",    NullTag,            x"00",    NullAddr&PadT,                    x"00",                    x"00",    x"00000000"),
        (NullTag,        x"00",    NullTag,            x"00",    NullAddr&PadT,                    x"00",                    x"00",    x"00000000"),
        (NullTag,        x"00",    NullTag,            x"00",    NullAddr&PadT,                    x"00",                    x"00",    x"00000000"),
        (NullTag,        x"00",    NullTag,            x"00",    NullAddr&PadT,                    x"00",                    x"00",    x"00000000"),
        (NullTag,        x"00",    NullTag,            x"00",    NullAddr&PadT,                    x"00",                    x"00",    x"00000000"),
        (NullTag,        x"00",    NullTag,            x"00",    NullAddr&PadT,                    x"00",                    x"00",    x"00000000"),
        (NullTag,        x"00",    NullTag,            x"00",    NullAddr&PadT,                    x"00",                    x"00",    x"00000000"),
        (NullTag,        x"00",    NullTag,            x"00",    NullAddr&PadT,                    x"00",                    x"00",    x"00000000"),
        (NullTag,        x"00",    NullTag,            x"00",    NullAddr&PadT,                    x"00",                    x"00",    x"00000000"),
        (NullTag,        x"00",    NullTag,            x"00",    NullAddr&PadT,                    x"00",                    x"00",    x"00000000"),
        (NullTag,        x"00",    NullTag,            x"00",    NullAddr&PadT,                    x"00",                    x"00",    x"00000000"),
        (NullTag,        x"00",    NullTag,            x"00",    NullAddr&PadT,                    x"00",                    x"00",    x"00000000"),
        (NullTag,        x"00",    NullTag,            x"00",    NullAddr&PadT,                    x"00",                    x"00",    x"00000000"),
        (NullTag,        x"00",    NullTag,            x"00",    NullAddr&PadT,                    x"00",                    x"00",    x"00000000"),
        (NullTag,        x"00",    NullTag,            x"00",    NullAddr&PadT,                    x"00",                    x"00",    x"00000000"),
        (NullTag,        x"00",    NullTag,            x"00",    NullAddr&PadT,                    x"00",                    x"00",    x"00000000"),
        (NullTag,        x"00",    NullTag,            x"00",    NullAddr&PadT,                    x"00",                    x"00",    x"00000000"),
        (NullTag,        x"00",    NullTag,            x"00",    NullAddr&PadT,                    x"00",                    x"00",    x"00000000"),
        (NullTag,        x"00",    NullTag,            x"00",    NullAddr&PadT,                    x"00",                    x"00",    x"00000000"),
        (NullTag,        x"00",    NullTag,            x"00",    NullAddr&PadT,                    x"00",                    x"00",    x"00000000"),
        (NullTag,        x"00",    NullTag,            x"00",    NullAddr&PadT,                    x"00",                    x"00",    x"00000000"),
        (NullTag,        x"00",    NullTag,            x"00",    NullAddr&PadT,                    x"00",                    x"00",    x"00000000"),
        (NullTag,        x"00",    NullTag,            x"00",    NullAddr&PadT,                    x"00",                    x"00",    x"00000000"),
        (NullTag,        x"00",    NullTag,            x"00",    NullAddr&PadT,                    x"00",                    x"00",    x"00000000")
        );
        
    
    constant PinDesc : PinDescType :=(
--     Base func  sec unit sec func      sec pin                            -- 26 HDR    -- IDC DB25
        IOPortTag & x"00" & StepGenTag & StepGenIndexPin,        -- I/O 00    PIN 1        PIN 1   just GPIO
        IOPortTag & x"01" & StepGenTag & StepGenIndexPin,        -- I/O 01    PIN 2       PIN 14  just GPIO
        IOPortTag & x"02" & StepGenTag & StepGenIndexPin,        -- I/O 02    PIN 3       PIN 2   just GPIO
        IOPortTag & x"00" & NullTag & NullPin,                    -- I/O 03    PIN 4        PIN 15  just GPIO
        IOPortTag & x"00" & NullTag & NullPin,                    -- I/O 04    PIN 5        PIN 3   just GPIO
        IOPortTag & x"00" & NullTag & NullPin,                    -- I/O 05    PIN 6       PIN 16  just GPIO
        IOPortTag & x"00" & NullTag & NullPin,                    -- I/O 06    PIN 7        PIN 4   just GPIO
        IOPortTag & x"00" & NullTag & NullPin,                    -- I/O 07    PIN 8        PIN 17  just GPIO
        IOPortTag & x"00" & NullTag & NullPin,                    -- I/O 08    PIN 9         PIN 5   just GPIO
        IOPortTag & x"00" & NullTag & NullPin,                    -- I/O 09    PIN 11        PIN 6   just GPIO
        IOPortTag & x"00" & NullTag & NullPin,                    -- I/O 10    PIN 13        PIN 7   just GPIO
        IOPortTag & x"00" & NullTag & NullPin,                    -- I/O 11    PIN 15        PIN 8   just GPIO
        IOPortTag & x"00" & NullTag & NullPin,                    -- I/O 12    PIN 17        PIN 9   just GPIO
        IOPortTag & x"00" & NullTag & NullPin,                  -- I/O 13    PIN 19        PIN 10  just GPIO
        IOPortTag & x"00" & NullTag & NullPin,                  -- I/O 14    PIN 21        PIN 11  just GPIO
        IOPortTag & x"00" & NullTag & NullPin,                    -- I/O 15    PIN 23        PIN 12  just GPIO
        IOPortTag & x"00" & NullTag & NullPin,                        -- I/O 16    PIN 25        PIN 13  just GPIO
        
                                                                        -- 26 HDR    -- IDC DB25    
        IOPortTag & x"00" & NullTag & NullPin,                    -- I/O 17    PIN 1        PIN 1     just GPIO
        IOPortTag & x"00" & NullTag & NullPin,                    -- I/O 18   PIN 2        PIN 14    just GPIO
        IOPortTag & x"00" & StepGenTag & StepGenStepPin,        -- I/O 19   PIN 3        PIN 2       X Step
        IOPortTag & x"00" & NullTag & NullPin,                    -- I/O 20    PIN 4        PIN 15    just GPIO
        IOPortTag & x"00" & StepGenTag & StepGenDirPin,            -- I/O 21    PIN 5        PIN 3       X Dir    
        IOPortTag & x"00" & NullTag & NullPin,                    -- I/O 22    PIN 6        PIN 16    just GPIO
        IOPortTag & x"01" & StepGenTag & StepGenStepPin,        -- I/O 23    PIN 7        PIN 4       Y Step
        IOPortTag & x"00" & NullTag & NullPin,                    -- I/O 24    PIN 8        PIN 17    just GPIO
        IOPortTag & x"01" & StepGenTag & StepGenDirPin,            -- I/O 25    PIN 9        PIN 5       Y Dir
        IOPortTag & x"02" & StepGenTag & StepGenStepPin,        -- I/O 26    PIN 11        PIN 6       Z Step
        IOPortTag & x"02" & StepGenTag & StepGenDirPin,            -- I/O 27    PIN 13        PIN 7       Z Dir
        IOPortTag & x"00" & NullTag & NullPin,                  -- I/O 28    PIN 15        PIN 8    Spindle on/off
        IOPortTag & x"03" & StepGenTag & StepGenStepPin,        -- I/O 29    PIN 17        PIN 9    Spindle Step
        IOPortTag & x"03" & StepGenTag & StepGenDirPin,         -- I/O 30    PIN 19        PIN 10  Spindle Dir
        IOPortTag & x"00" & QCountTag & QCountIdxPin,             -- I/O 31    PIN 21        PIN 11  (Encoder Quad Idx)
        IOPortTag & x"00" & QCountTag & QCountQAPin,             -- I/O 32    PIN 23        PIN 12    (Encoder Quad A)
        IOPortTag & x"00" & QCountTag & QCountQBPin,                -- I/O 33    PIN 25        PIN 13    (Encoder Quad B)
        

        emptypin,emptypin,emptypin,emptypin,emptypin,emptypin,emptypin,emptypin, -- added for 34 pin 5I25
        emptypin,emptypin,emptypin,emptypin,emptypin,emptypin,


        emptypin,emptypin,emptypin,emptypin,emptypin,emptypin,emptypin,emptypin, -- added for IDROM v3
        emptypin,emptypin,emptypin,emptypin,emptypin,emptypin,emptypin,emptypin,
                    
        emptypin,emptypin,emptypin,emptypin,emptypin,emptypin,emptypin,emptypin,
        emptypin,emptypin,emptypin,emptypin,emptypin,emptypin,emptypin,emptypin,
        emptypin,emptypin,emptypin,emptypin,emptypin,emptypin,emptypin,emptypin,
        emptypin,emptypin,emptypin,emptypin,emptypin,emptypin,emptypin,emptypin,
        emptypin,emptypin,emptypin,emptypin,emptypin,emptypin,emptypin,emptypin,
        emptypin,emptypin,emptypin,emptypin,emptypin,emptypin,emptypin,emptypin,
        emptypin,emptypin,emptypin,emptypin,emptypin,emptypin,emptypin,emptypin,
        emptypin,emptypin,emptypin,emptypin,emptypin,emptypin,emptypin,emptypin,
        emptypin,emptypin,emptypin,emptypin,emptypin,emptypin,emptypin,emptypin,
        emptypin,emptypin,emptypin,emptypin,emptypin,emptypin,emptypin,emptypin);

end package PIN_VMC100;

Configuration Name: HOSTMOT2

General configuration information:

  BoardName : MESA7I92
  FPGA Size: 20 KGates
  FPGA Pins: 256
  Number of IO Ports: 2
  Width of one I/O port: 17
  Clock Low frequency: 100.0000 MHz
  Clock High frequency: 175.0000 MHz
  IDROM Type: 3
  Instance Stride 0: 4
  Instance Stride 1: 64
  Register Stride 0: 256
  Register Stride 1: 256

Modules in configuration:

  Module: DPLL
  There are 1 of DPLL in configuration
  Version: 0
  Registers: 7
  BaseAddress: 7000
  ClockFrequency: 100.000 MHz
  Register Stride: 256 bytes
  Instance Stride: 4 bytes

  Module: WatchDog
  There are 1 of WatchDog in configuration
  Version: 0
  Registers: 3
  BaseAddress: 0C00
  ClockFrequency: 100.000 MHz
  Register Stride: 256 bytes
  Instance Stride: 4 bytes

  Module: IOPort
  There are 2 of IOPort in configuration
  Version: 0
  Registers: 5
  BaseAddress: 1000
  ClockFrequency: 100.000 MHz
  Register Stride: 256 bytes
  Instance Stride: 4 bytes

  Module: QCount
  There are 1 of QCount in configuration
  Version: 2
  Registers: 5
  BaseAddress: 3000
  ClockFrequency: 100.000 MHz
  Register Stride: 256 bytes
  Instance Stride: 4 bytes

  Module: StepGen
  There are 4 of StepGen in configuration
  Version: 194
  Registers: 10
  BaseAddress: 2000
  ClockFrequency: 100.000 MHz
  Register Stride: 256 bytes
  Instance Stride: 4 bytes

  Module: PWM
  There are 0 of PWM in configuration
  Version: 0
  Registers: 5
  BaseAddress: 4100
  ClockFrequency: 175.000 MHz
  Register Stride: 256 bytes
  Instance Stride: 4 bytes

  Module: LED
  There are 1 of LED in configuration
  Version: 0
  Registers: 1
  BaseAddress: 0200
  ClockFrequency: 100.000 MHz
  Register Stride: 256 bytes
  Instance Stride: 4 bytes

Configuration pin-out:

IO Connections for P2
DB25 pin#             I/O   Pri. func    Sec. func        Chan     Sec. Pin func   Sec. Pin Dir

 1                      0   IOPort       StepGen          0        Index           (In)
14                      1   IOPort       StepGen          1        Index           (In)
 2                      2   IOPort       StepGen          2        Index           (In)
15                      3   IOPort       None           
 3                      4   IOPort       None           
16                      5   IOPort       None           
 4                      6   IOPort       None           
17                      7   IOPort       None           
 5                      8   IOPort       None           
 6                      9   IOPort       None           
 7                     10   IOPort       None           
 8                     11   IOPort       None           
 9                     12   IOPort       None           
10                     13   IOPort       None           
11                     14   IOPort       None           
12                     15   IOPort       None           
13                     16   IOPort       None           

IO Connections for P1
DB25 pin#             I/O   Pri. func    Sec. func        Chan     Sec. Pin func   Sec. Pin Dir

 1                     17   IOPort       None           
14                     18   IOPort       None           
 2                     19   IOPort       StepGen          0        Step/Table1     (Out)
15                     20   IOPort       None           
 3                     21   IOPort       StepGen          0        Dir/Table2      (Out)
16                     22   IOPort       None           
 4                     23   IOPort       StepGen          1        Step/Table1     (Out)
17                     24   IOPort       None           
 5                     25   IOPort       StepGen          1        Dir/Table2      (Out)
 6                     26   IOPort       StepGen          2        Step/Table1     (Out)
 7                     27   IOPort       StepGen          2        Dir/Table2      (Out)
 8                     28   IOPort       None           
 9                     29   IOPort       StepGen          3        Step/Table1     (Out)
10                     30   IOPort       StepGen          3        Dir/Table2      (Out)
11                     31   IOPort       QCount           0        Quad-IDX        (In)
12                     32   IOPort       QCount           0        Quad-A          (In)
13                     33   IOPort       QCount           0        Quad-B          (In)

and tada after flash i saw this in my terminal output:

this is how it must look, right?

thanks

Last edit: 23 Aug 2025 11:02 by hitchhiker.

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hitchhiker
Online
Elite Member

23 Aug 2025 11:56 #333797 by hitchhiker

Replied by hitchhiker on topic Homing with 2 inputs/sensors?

Ok i connect the joint.00.index-enable with the stepgen.00.index-enable.
Activate in the ini the usage of home index.

Then i start the homing of the axis... works up to the point it waits for index.... and index signal doesnt change the state..

Again.. i use position mode not velocity mode of the stepgen.
Signal is ground to input (gpio).

Thanks

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PCW
Away
Moderator

23 Aug 2025 15:09 #333807 by PCW

Replied by PCW on topic Homing with 2 inputs/sensors?

I would test this by hand by watching index.n.enable with halshow
and then:

sets index.n.enable true

(in halshow or with halcmd)

and seeing if toggling the hardware stepgen index pin clears index.n.enable
You might also verify that the GPIO pin associated with the stepgen index
changes when you toggle the stepgen index pin.

note: index.n.enable is the name of your signal that connects the joint
index enable to the stepgen index enable.

Also stepgen position mode should work but it will have a glitch at index detection.
The more standard stepgen velocity mode is better as it handles the stepgen position
jump at index detection better.

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besriworld
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Elite Member

23 Aug 2025 16:37 #333814 by besriworld

Replied by besriworld on topic Homing with 2 inputs/sensors?

"
Also stepgen position mode should work but it will have a glitch at index detection. "
Can you please explain what kind of gitch this is?

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Homing with 2 inputs/sensors?

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