Actually fix retract filament from finda

src/logic/retract_from_finda.cpp

@@ -21,7 +21,7 @@ bool RetractFromFinda::Step() {
         if (mi::idler.Engaged()) {
             dbg_logic_sprintf_P(PSTR("Pulley start steps %u"), mm::motion.CurPosition(mm::Pulley));
             state = UnloadBackToPTFE;
-            mm::motion.PlanMove<mm::Pulley>(-config::cuttingEdgeToFindaMidpoint, config::pulleyFeedrate);
+            mm::motion.PlanMove<mm::Pulley>(-(config::cuttingEdgeToFindaMidpoint + config::cuttingEdgeRetract), config::pulleyFeedrate);
         }
         return false;
     case UnloadBackToPTFE:

src/logic/unload_filament.cpp

@@ -35,20 +35,22 @@ bool UnloadFilament::StepInner() {
                 ml::leds.SetMode(mg::globals.ActiveSlot(), ml::red, ml::blink0);
                 mi::idler.Disengage();
             } else {
-                state = ProgressCode::UnloadingToPulley;
-                mm::motion.PlanMove<mm::Pulley>(-config::cuttingEdgeToFindaMidpoint, config::pulleyFeedrate);
+                state = ProgressCode::RetractingFromFinda;
+                retract.Reset();
             }
         }
         return false;
-    case ProgressCode::UnloadingToPulley:
-        if (mm::motion.QueueEmpty()) {
-            state = ProgressCode::DisengagingIdler;
-            mi::idler.Disengage();
-        }
-        return false;
-    case ProgressCode::DisengagingIdler:
-        if (mm::motion.QueueEmpty()) {
-            state = ProgressCode::FinishingMoves;
+    case ProgressCode::RetractingFromFinda:
+        if (retract.Step()) {
+            if (retract.State() == RetractFromFinda::Failed) {
+                state = ProgressCode::ERRDisengagingIdler;
+                error = ErrorCode::FINDA_DIDNT_SWITCH_OFF;
+                mi::idler.Disengage();
+                ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::off);
+                ml::leds.SetMode(mg::globals.ActiveSlot(), ml::red, ml::blink0); // signal loading error
+            } else {
+                state = ProgressCode::FinishingMoves;
+            }
         }
         return false;
     case ProgressCode::FinishingMoves:

src/logic/unload_filament.h

@@ -2,6 +2,7 @@
 #include <stdint.h>
 #include "command_base.h"
 #include "unload_to_finda.h"
+#include "retract_from_finda.h"
 
 namespace logic {
 
@@ -21,6 +22,7 @@ public:
 private:
     constexpr static const uint8_t maxRetries = 3;
     UnloadToFinda unl;
+    RetractFromFinda retract;
 };
 
 /// The one and only instance of UnloadFilament state machine in the FW