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docs: Minor wording change to Endstop_Phase.md 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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Kevin O'Connor 2020-03-01 11:40:13 -05:00
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docs/Endstop_Phase.md
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@ -13,16 +13,16 @@ precision.
The stepper phase adjusted endstop mechanism can use the precision of The stepper phase adjusted endstop mechanism can use the precision of
the stepper motors to improve the precision of the endstop switches. the stepper motors to improve the precision of the endstop switches.
When a stepper motor moves it cycles through a series of phases until A stepper motor moves by cycling through a series of phases until in
in completes four "full steps". So, a stepper motor using 16 completes four "full steps". So, a stepper motor using 16 micro-steps
micro-steps would have 64 phases and when moving in a positive would have 64 phases and when moving in a positive direction it would
direction it would cycle through phases: 0, 1, 2, ... 61, 62, 63, 0, cycle through phases: 0, 1, 2, ... 61, 62, 63, 0, 1, 2, etc.
1, 2, etc. Crucially, when the stepper motor is at a particular Crucially, when the stepper motor is at a particular position on a
position on a linear rail it should always be at the same stepper linear rail it should always be at the same stepper phase. Thus, when
phase. Thus, when a carriage triggers the endstop switch the stepper a carriage triggers the endstop switch the stepper controlling that
controlling that carriage should always be at the same stepper motor carriage should always be at the same stepper motor phase. Klipper's
phase. Klipper's endstop phase system combines the stepper phase with endstop phase system combines the stepper phase with the endstop
the endstop trigger to improve the accuracy of the endstop. trigger to improve the accuracy of the endstop.
In order to use this functionality it is necessary to be able to In order to use this functionality it is necessary to be able to
identify the phase of the stepper motor. If one is using Trinamic identify the phase of the stepper motor. If one is using Trinamic