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Fix unloading state machine

pull/126/head
Alex Voinea 2021-09-30 20:39:54 +02:00 committed by DRracer
parent 221f40c7a1
commit 6071257973
1 changed files with 8 additions and 11 deletions
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19
src/logic/unload_filament.cpp
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@ -33,25 +33,22 @@ bool UnloadFilament::StepInner() {
error = ErrorCode::FINDA_DIDNT_SWITCH_OFF;
ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::off);
ml::leds.SetMode(mg::globals.ActiveSlot(), ml::red, ml::blink0);
mi::idler.Disengage();
} else {
state = ProgressCode::DisengagingIdler;
state = ProgressCode::UnloadingToPulley;
mm::motion.PlanMove<mm::Pulley>(-config::cuttingEdgeToFindaMidpoint, config::pulleyFeedrate);
}
// in all cases disengage the idler
}
return false;
case ProgressCode::UnloadingToPulley:
if (mm::motion.QueueEmpty()) {
state = ProgressCode::DisengagingIdler;
mi::idler.Disengage();
}
return false;
case ProgressCode::DisengagingIdler:
if (!mi::idler.Engaged()) {
state = ProgressCode::AvoidingGrind; // @@TODO what was this originally? Why are we supposed to move the pulley when the idler is not engaged?
// may be the pulley was to move along with the idler?
// mm::motion.PlanMove(mm::Pulley, -100, 10); // @@TODO constants
}
return false;
case ProgressCode::AvoidingGrind: // state 3 move a little bit so it is not a grinded hole in filament
if (mm::motion.QueueEmpty()) {
state = ProgressCode::FinishingMoves;
mi::idler.Disengage();
return true;
}
return false;
case ProgressCode::FinishingMoves: