'Test routine for homing to a hard stop.
'Intended for sample purposes only
'The concept is to drive continually toward the hard stop while
'continually testing C2 for A lower value than previously
'found.  That value, (not the final rest position), is
'the position of the hard stop. Then move A set distance from
'that position (since moving to the hard stop is impossible).
'Note: To change direction:
  'Change sign on both slews
  'Change BR G3, C2>=R1 to BR G3, C2<=R1
  'Change MA R1-50  to MA R1+50
'Adjust parameter values to suit your particular systems needs.
Ee=1           'Enable encoder mode (Best done early in code)
Sm=1           'Set stall mode to keep running on a stall
Rc=20          'use a good low value for run current
Sf=22          'Set the stall factor
PG 1           'Enter program mode
  R1=0           'Initialize R1 to zero
  R2=0           'Initialize R2 to zero
  R3=0           'Initialize R3 to zero
LB G1          'Home to stop routine
  St=0           'Clear the stall flag
  Er=0           'Clear the error flag
  SL -300        'First find the stop at a good speed
  St=0           'Clear stall flag
LB G2          'First loop
  PR St,"  Waiting for 1st Stall"  'Print status
  BR G2,St=0     'Repeat the first loop if no stall yet
  SL 0           'Slew to zero speed (stop)
  Er=0           'Clear the error flag
  SL -50         'Drive toward the stop slowly
LB G3          'Loop start point
  R2=R2+1        'Increment counter
  PR St,"  2nd Stall: Loop Count= ",R2  'Print status
  BR G4, R2>=30   'Exit the loop on count of 30
  BR G3, C2>=R1  'Test for new lowest value
  R1=C2          'Store the lowest value found
  PR "New MAX/MIN reached R1=",R1  'Print status
  BR G3          'Repeat the loop
LB G4          'Loop exit point
  SL 0           'Slew to zero speed (stop)
  St=0           'Clear the stall flag
  H              'Wait until motion completes
  PR "Last minimum R1=",R1   'Print status
  MA R1 + 50       'Move to a fixed offset from minimum
  H              'Wait until motion completes
  P 0            'Set postion to zero
  PR "At Home, 50 Counts from stop P=",P
  E              'End program
PG             'Exit program mode
S