Read limit switch on Initialize to avoid motor movement if limit switch is already pressed (e.g. due to previous Power Off when switch was pressed)

Fraestisch_SFTools.ino

@@ -120,6 +120,7 @@ void Initialize() {
 	}
 
 	if (isPowerOn && Router_Setup.isToolChangOnPowerOn()) {
+		Router_Elevator.readLimitSwitch();
 		SetActualStatus(TOOL_CHANGE);
 		isPowerOn = false;
 	} else {
@@ -189,8 +190,10 @@ void loop() {
 			RotaryControler.loop();
 			originStatus = TOOL_CHANGE;
 			if (intermediateState == 0) {
-				Router_Elevator.moveToUpperLimitSwitch();
-				SetActualStatus(MOVING_ELEVATOR);
+				if (!Router_Elevator.isLimitSwitchTriggerd()) {
+					Router_Elevator.moveToUpperLimitSwitch();
+					SetActualStatus(MOVING_ELEVATOR);
+				}
 				intermediateState = 1;
 			} else if (intermediateState == 1) {
 				Router_Elevator.setZeroPosition();

RouterElevator.cpp

@@ -94,6 +94,10 @@ void RouterElevator::limitSwitchHandler() {
 	}
 }
 
+void RouterElevator::readLimitSwitch() {
+	limitSwitchState = digitalRead(LimitSwitch);
+}
+
 void RouterElevator::checkDirection() {
 	previousDirection = Stepper.getDirectionOfMotion();
 }

RouterElevator.h

@@ -49,6 +49,7 @@ class RouterElevator {
 		bool isWLSTriggerd(void);
 		bool isTargetPositionReached(void);
 		void limitSwitchHandler(void);
+		void readLimitSwitch(void);
 		void checkDirection(void);
 		ValueMode getMode() const;
 		void setMode(ValueMode mode);

sloeber.ino.cpp

@@ -2,7 +2,7 @@
 //This is a automatic generated file
 //Please do not modify this file
 //If you touch this file your change will be overwritten during the next build
-//This file has been generated on 2022-03-04 21:14:46
+//This file has been generated on 2022-04-15 16:36:20
 
 #include "Arduino.h"
 #include <Arduino.h>