Non-blocking Go Home

[pmth]

Appreciate this library, it's very helpful. I use this library to control multiple motors that has potential to take a while before reaching home limit switch. Having blocking call to moveToHomeInSteps is a challenge.

What's your thoughts on having non-blocking moveToHomeInSteps and is there a reason why it was implemented as blocking (I know that simplicity is probably one of the reason). I am working implementing a wrapper for this library to archive this.

[pkerspe]

The reason simply is, that if you execute a homing operation you run until a homing switch is triggered and you do not want to overshoot and run your device / motor / carriage into a physical limit that comes write after the homing / limit switch is triggered.
So if you execute other stuff in parallel while you are homing or even change the parameters like speed, acceleration or set a new moving target, it could lead to physical damage of your setup if the limit switch is for whatever reason read out to late or stopping is delayed.
So I found it to complicated to factor all those things in and create a non blocking version. It is of course doable but I would suggest if you need something like that, that you build it yourself using some wrapper function which uses a combination of reading the status of the limit switch (directly by reading the io pin where your limit switch is connected to or using an interrupt as a more elegant solution) and the jogging command, until the limit switch is triggered, and then you stop the motor and set the current position to 0.