Merge 13478ce1b4 into 48d4d920be

src/config/config.h

@@ -104,7 +104,6 @@ static constexpr U_mm pulleyHelperMove = 10.0_mm; ///< Helper move for Load/Unlo
 static constexpr U_mm cutLength = 8.0_mm;
 static constexpr U_mm fsensorToNozzle = 30.0_mm; ///< ~20mm from MK4's filament sensor through extruder gears into nozzle
 static constexpr U_mm fsensorToNozzleAvoidGrind = 5.0_mm;
-static constexpr U_mm fsensorToNozzleAvoidGrindUnload = 20.0_mm;
 /// Check the state of FSensor after this amount of filament got (hopefully) pulled out while unloading.
 static constexpr U_mm fsensorUnloadCheckDistance = 40.0_mm;
 
@@ -228,6 +227,16 @@ static constexpr U_deg idlerIntermediateSlotPositions[toolCount + 1] = {
     IdlerOffsetFromHome ///18.0_deg Fully disengaged all slots
 };
 
+/// Intermediate positions for Idler's slots: Unloading version to fix the stuck filament
+static constexpr U_deg idlerIntermediateUnloadSlotPositions[toolCount + 1] = {
+    IdlerOffsetFromHome + 4.25F * IdlerSlotDistance,
+    IdlerOffsetFromHome + 3.25F * IdlerSlotDistance,
+    IdlerOffsetFromHome + 2.25F * IdlerSlotDistance,
+    IdlerOffsetFromHome + 1.25F * IdlerSlotDistance,
+    IdlerOffsetFromHome + 0.25F * IdlerSlotDistance,
+    IdlerOffsetFromHome ///18.0_deg Fully disengaged all slots
+};
+
 static constexpr U_deg idlerParkPositionDelta = -IdlerSlotDistance + 5.0_deg / 2; // TODO verify
 
 static constexpr U_deg_s idlerFeedrate = 300._deg_s;

src/logic/unload_to_finda.cpp

@@ -20,7 +20,7 @@ void UnloadToFinda::Reset(uint8_t maxTries) {
     } else {
         // FINDA is sensing the filament, plan moves to unload it
         state = EngagingIdler;
-        mi::idler.PartiallyDisengage(mg::globals.ActiveSlot()); // basically prepare before the active slot - saves ~1s
+        mi::idler.PartiallyEngage(mg::globals.ActiveSlot()); // basically prepare before the active slot - saves ~1s
         started_ms = mt::timebase.Millis();
         ml::leds.ActiveSlotProcessing();
     }
@@ -34,7 +34,7 @@ bool UnloadToFinda::Step() {
     // It will not wait for the extruder to finish the relieve move.
     // However, such an approach breaks running the MMU on a non-reworked MK4/C1, which hasn't been officially supported, but possible (with some level of uncertainity).
     case EngagingIdler:
-        if (!mi::idler.PartiallyDisengaged()) { // just waiting for Idler to get into the target intermediate position
+        if (!mi::idler.PartiallyEngaged()) { // just waiting for Idler to get into the target intermediate position
             return false;
         }
         if (mfs::fsensor.Pressed()) { // still pressed, printer didn't free the filament yet
@@ -48,9 +48,6 @@ bool UnloadToFinda::Step() {
                 state = UnloadingToFinda;
                 mpu::pulley.InitAxis();
                 mi::idler.Engage(mg::globals.ActiveSlot());
-
-                //  slow move for the first few millimeters - help the printer relieve the filament while engaging the Idler fully
-                mpu::pulley.PlanMove(-config::fsensorToNozzleAvoidGrindUnload, mg::globals.PulleySlowFeedrate_mm_s(), mg::globals.PulleySlowFeedrate_mm_s());
             } else {
                 state = FailedFINDA;
             }

src/modules/idler.cpp

@@ -13,9 +13,12 @@ namespace idler {
 Idler idler;
 
 void Idler::PrepareMoveToPlannedSlot() {
-    mm::motion.PlanMoveTo<mm::Idler>(
-        plannedMove == Operation::engage ? SlotPosition(plannedSlot) : IntermediateSlotPosition(plannedSlot),
-        mm::unitToAxisUnit<mm::I_speed_t>(mg::globals.IdlerFeedrate_deg_s()));
+    mm::motion.PlanMoveTo<mm::Idler>(plannedMove == Operation::engage
+        ? SlotPosition(plannedSlot)
+        : plannedMove == Operation::intermediateUnload
+            ? IntermediateUnloadSlotPosition(plannedSlot)
+            : IntermediateSlotPosition(plannedSlot),
+    mm::unitToAxisUnit<mm::I_speed_t>(mg::globals.IdlerFeedrate_deg_s()));
     dbg_logic_fP(PSTR("Prepare Move Idler slot %d"), plannedSlot);
 }
 
@@ -80,6 +83,10 @@ Idler::OperationResult Idler::Engage(uint8_t slot) {
     return PlanMoveInner(slot, Operation::engage);
 }
 
+Idler::OperationResult Idler::PartiallyEngage(uint8_t slot) {
+    return PlanMoveInner(slot, Operation::intermediateUnload);
+}
+
 Idler::OperationResult Idler::PlanMoveInner(uint8_t slot, Operation plannedOp) {
     if (state == Moving || IsOnHold()) {
         dbg_logic_P(PSTR("Moving --> Engage refused"));

src/modules/idler.h

@@ -25,6 +25,10 @@ public:
     /// @note if(state==OnHold) all attempts to Engage are rejected with OperationResult::Rejected
     OperationResult Engage(uint8_t slot);
 
+    /// Plan partial engaging of the idler
+    /// @returns #OperationResult
+    OperationResult PartiallyEngage(uint8_t slot);
+
     /// Plan disengaging of the idler, i.e. parking the idler
     /// @returns #OperationResult
     /// @note if(state==OnHold) all attempts to Disengage are rejected with OperationResult::Rejected
@@ -44,6 +48,7 @@ public:
     inline bool Engaged() const { return currentlyEngaged == Operation::engage; }
     inline bool Disengaged() const { return currentlyEngaged == Operation::disengage; }
     inline bool PartiallyDisengaged() const { return currentlyEngaged == Operation::intermediate; }
+    inline bool PartiallyEngaged() const { return currentlyEngaged == Operation::intermediateUnload; }
 
     /// @returns predefined positions of individual slots
     static constexpr mm::I_pos_t SlotPosition(uint8_t slot) {
@@ -55,6 +60,11 @@ public:
         return mm::unitToAxisUnit<mm::I_pos_t>(config::idlerIntermediateSlotPositions[slot]);
     }
 
+    /// @returns predefined intermediate positions between individual slots (Unload)
+    static constexpr mm::I_pos_t IntermediateUnloadSlotPosition(uint8_t slot) {
+    return mm::unitToAxisUnit<mm::I_pos_t>(config::idlerIntermediateUnloadSlotPositions[slot]);
+    }
+
     /// @returns the index of idle position of the idler, usually 5 in case of 0-4 valid indices of filament slots
     inline static constexpr uint8_t IdleSlotIndex() { return config::toolCount; }
 
@@ -76,7 +86,8 @@ private:
     enum class Operation : uint8_t {
         disengage = 0,
         engage = 1,
-        intermediate = 2 ///< planned movement will be to an intermediate position between slots (different array of positions)
+        intermediate = 2, ///< planned movement will be to an intermediate position between slots (different array of positions)
+        intermediateUnload = 3 ///Reduced movement to prevent filament stuck
     };
 
     OperationResult PlanMoveInner(uint8_t slot, Operation plannedOp);