From 4183bc6b71bc73abd1a4b3077f6fd036ece47135 Mon Sep 17 00:00:00 2001
From: Yuri D'Elia <wavexx@thregr.org>
Date: Wed, 18 May 2022 02:58:41 +0200
Subject: [PATCH] Use higher acceleration to move out of the unstable SG zone
 faster

---
 src/config/config.h          | 4 ++--
 src/modules/movable_base.cpp | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/config/config.h b/src/config/config.h
index 9cee3fa..d39c117 100644
--- a/src/config/config.h
+++ b/src/config/config.h
@@ -131,14 +131,14 @@ static constexpr AxisConfig selector = {
     .iHold = 5, /// 99mA
     .stealth = false,
     .stepsPerUnit = (200 * 8 / 8.),
-    .sg_thrs = 5, // 6 looks like too much on my MMU
+    .sg_thrs = 3, // 6 looks like too much on my MMU
 };
 
 /// Selector motion limits
 static constexpr SelectorLimits selectorLimits = {
     .lenght = 75.0_mm, // @@TODO how does this relate to SelectorOffsetFromMin?
     .jerk = 1.0_mm_s,
-    .accel = 200.0_mm_s2,
+    .accel = 350.0_mm_s2,
 };
 
 static constexpr U_mm SelectorSlotDistance = 14.0_mm; /// Selector distance between two slots
diff --git a/src/modules/movable_base.cpp b/src/modules/movable_base.cpp
index 813ce49..1d7032f 100644
--- a/src/modules/movable_base.cpp
+++ b/src/modules/movable_base.cpp
@@ -40,7 +40,7 @@ void MovableBase::PerformMove() {
         state = TMCFailed;
     } else if (mm::motion.QueueEmpty(axis)) {
         // move finished
-        //        ml::leds.SetMode(4, ml::red, ml::off); // @@TODO - temporary signal of the finished move
+        ml::leds.SetMode(4, ml::red, ml::off); // @@TODO - temporary signal of the finished move
         currentSlot = plannedSlot;
         FinishMove();
         state = Ready;
@@ -48,7 +48,7 @@ void MovableBase::PerformMove() {
         // Beware - the ordering of these if statements is important.
         // We shall only check stallguard when motion queue is not empty for this axis - i.e. ! mm::motion.QueueEmpty(axis)
         // Such a check has already been done in the previous else-if branch.
-        //        ml::leds.SetMode(4, ml::red, ml::on); // @@TODO - temporary signal of the stall guard
+        ml::leds.SetMode(4, ml::red, ml::on); // @@TODO - temporary signal of the stall guard
         // Axis stalled while moving - dangerous especially with the Selector
         // Checked only for axes which support homing (because we plan a homing move after the error is resolved to regain precise position)
         mm::motion.StallGuardReset(axis);