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Set real slot positions for the Idler and Selector 

Extracted from the previous FW, may need some tuning based on units selected
for each of these axes (degrees, millimeters) - waiting for an update
of the motion implementation.

Updated starting conditions of the unit tests to reflect the global configuration.

MMU-58
pull/77/head
D.R.racer 2021-07-21 10:00:38 +02:00 committed by DRracer
parent ef96d998a3
commit 16dc129b49
2 changed files with 35 additions and 2 deletions
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28
src/config/config.h
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@ -8,6 +8,7 @@ namespace config {
static constexpr const uint8_t toolCount = 5U; ///< Max number of extruders/tools/slots
// Idler's setup
/*
static constexpr U_deg idlerSlotPositions[toolCount + 1] = {
1.0_deg, 2.0_deg, 3.0_deg, 4.0_deg, 5.0_deg, 0
}; ///< slots 0-4 are the real ones, the 5th is the idle position
@ -16,6 +17,33 @@ static constexpr U_deg idlerSlotPositions[toolCount + 1] = {
static constexpr U_mm selectorSlotPositions[toolCount + 1] = {
1.0_mm, 2.0_mm, 3.0_mm, 4.0_mm, 5.0_mm, 6.0_mm
}; ///< slots 0-4 are the real ones, the 5th is the farthest parking positions
*/
/// Idler steps between neighbor positions: 2 msteps = 180 / 4
static constexpr uint16_t idlerSteps = 1420 / 4;
/// Absolute positions for Idler's slots: 0-4 are the real ones, the 5th index is the idle position
static constexpr uint16_t idlerSlotPositions[toolCount + 1] = {
idlerSteps,
idlerSteps * 2,
idlerSteps * 3,
idlerSteps * 4,
idlerSteps * 5,
0
};
// Selector's setup
/// Selector steps between neighbor positions
static constexpr uint16_t selectorSteps = 2790 / 4;
/// slots 0-4 are the real ones, the 5th is the farthest parking positions
static constexpr uint16_t selectorSlotPositions[toolCount + 1] = {
selectorSteps,
selectorSteps * 2,
selectorSteps * 3,
selectorSteps * 4,
selectorSteps * 5,
selectorSteps * 6
};
// Printer's filament sensor setup
static constexpr const uint16_t fsensorDebounceMs = 10;

9
tests/unit/logic/stubs/stub_motion.cpp
View File

@ -1,6 +1,9 @@
#include "motion.h"
#include "idler.h"
#include "stub_motion.h"
namespace mi = modules::idler;
namespace modules {
namespace motion {
@ -75,8 +78,10 @@ void ReinitMotion() {
// reset the simulation data to defaults
axes[0] = AxisSim({ 0, 0, false, false, false }); // pulley
axes[1] = AxisSim({ selector_pos, selector_pos, false, false, false }); // selector //@@TODO proper selector positions once defined
axes[2] = AxisSim({ 0, 0, false, false, false }); // idler
// axes[1] = AxisSim({ selector_pos, selector_pos, false, false, false }); // selector //@@TODO proper selector positions once defined
// axes[2] = AxisSim({ 0, 0, false, false, false }); // idler
axes[1] = AxisSim({ config::selectorSlotPositions[0], config::selectorSlotPositions[0], false, false, false }); // selector
axes[2] = AxisSim({ config::idlerSlotPositions[mi::Idler::IdleSlotIndex()], config::idlerSlotPositions[mi::Idler::IdleSlotIndex()], false, false, false }); // idler
}
/// probably higher-level operations knowing the semantic meaning of axes