This video shows how to use the limit switch to make motor stop immediately in emergency case. The controller used in this video can support up to 4 limit switches.
The source code is very simple:
?php
include_once "/lib/sd_spc.php";
spc_reset();
spc_sync_baud(460800);
spc_request_dev(14, "set mode half");

spc_request_dev(14, "goto -sw0 800 100000");

while(1)
{}
?

For more information, refer to this document [ Ссылка ]
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