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Prusa-Firmware-MMU
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Make logic prototype compilable

pull/21/head
D.R.racer 2021-06-07 12:23:51 +02:00 committed by DRracer
parent 2159558d88
commit 6f1624b718
6 changed files with 33 additions and 16 deletions
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1
CMakeLists.txt
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@ -195,6 +195,7 @@ target_sources(
src/modules/finda.cpp
src/modules/leds.cpp
src/modules/motion.cpp
src/logic/mm_control.cpp
)
set_property(

25
src/logic/mm_control.cpp
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@ -49,9 +49,9 @@ struct UnloadToFinda {
// FINDA is sensing the filament, plan moves to unload it
int unloadSteps = /*BowdenLength::get() +*/ 1100; // @@TODO
const int second_point = unloadSteps - 1300;
mm::motion.PlanMove(mm::Pulley, -1400, 6000); // @@TODO constants
mm::motion.PlanMove(mm::Pulley, -1800 + 1400, 2500); // @@TODO constants 1800-1400 = 400
mm::motion.PlanMove(mm::Pulley, -second_point + 1800, 550); // @@TODO constants
// mm::motion.PlanMove(mm::Pulley, -1400, 6000); // @@TODO constants
// mm::motion.PlanMove(mm::Pulley, -1800 + 1400, 2500); // @@TODO constants 1800-1400 = 400
// mm::motion.PlanMove(mm::Pulley, -second_point + 1800, 550); // @@TODO constants
state = WaitingForFINDA;
}
}
@ -117,17 +117,17 @@ class UnloadFilament : public TaskBase {
namespace mm = modules::motion;
switch (state) {
case EngagingIdler: // state 1 engage idler
if (mm::motion.IdlerEngaged()) { // if idler is in parked position un-park him get in contact with filament
if (mm::motion.IdlerEngaged()) { // if idler is in parked position un-park it get in contact with filament
state = UnloadingToFinda;
unl.Reset();
}
return false;
case UnloadingToFinda: // state 2 rotate pulley as long as the FINDA is on
if (unl.Step()) {
if (unl.state == UnloadToFinda2::Failed) {
if (unl.state == UnloadToFinda::Failed) {
// couldn't unload to FINDA, report error and wait for user to resolve it
state = ERR1DisengagingIdler;
modules::leds::leds.SetMode(active_extruder, modules::leds::red, modules::leds::blink0);
// modules::leds::leds.SetMode(active_extruder, modules::leds::red, modules::leds::blink0);
} else {
state = DisengagingIdler;
}
@ -138,7 +138,7 @@ class UnloadFilament : public TaskBase {
case DisengagingIdler:
if (mm::motion.IdlerDisengaged()) {
state = AvoidingGrind;
mm::motion.PlanMove(mm::Pulley, -100, 10); // @@TODO constants
// mm::motion.PlanMove(mm::Pulley, -100, 10); // @@TODO constants
}
return false;
case AvoidingGrind: // state 3 move a little bit so it is not a grinded hole in filament
@ -159,7 +159,7 @@ class UnloadFilament : public TaskBase {
state = ERR1WaitingForUser;
}
return false;
case ERR1WaitingForUser:
case ERR1WaitingForUser: {
// waiting for user buttons and/or a command from the printer
bool help = modules::buttons::buttons.ButtonPressed(modules::buttons::Left) /*|| command_help()*/;
bool tryAgain = modules::buttons::buttons.ButtonPressed(modules::buttons::Middle) /*|| command_tryAgain()*/;
@ -172,14 +172,15 @@ class UnloadFilament : public TaskBase {
Reset();
} else if (userResolved) {
// problem resolved - the user pulled the fillament by hand
modules::leds::leds.SetMode(active_extruder, modules::leds::red, modules::leds::off);
modules::leds::leds.SetMode(active_extruder, modules::leds::green, modules::leds::on);
mm::motion.PlanMove(mm::Pulley, 450, 5000); // @@TODO constants
// modules::leds::leds.SetMode(active_extruder, modules::leds::red, modules::leds::off);
// modules::leds::leds.SetMode(active_extruder, modules::leds::green, modules::leds::on);
// mm::motion.PlanMove(mm::Pulley, 450, 5000); // @@TODO constants
state = AvoidingGrind;
}
return false;
}
case OK:
isFilamentLoaded = false; // filament unloaded
// isFilamentLoaded = false; // filament unloaded
return true; // successfully finished
}
}

3
src/main.cpp
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@ -75,6 +75,8 @@ void setup() {
cpu::Init();
// watchdog init
shr16::shr16.Init();
modules::leds::leds.SetMode(4, modules::leds::Color::green, modules::leds::Mode::blink0);
modules::leds::leds.Step(0);
@ -249,6 +251,7 @@ void loop() {
modules::leds::leds.Step(0);
modules::finda::finda.Step();
currentCommand->Step();
// add a watchdog reset
}
int main() {

2
src/modules/leds.cpp
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@ -4,6 +4,8 @@
namespace modules {
namespace leds {
LEDs leds;
void LED::SetMode(Mode mode) {
state.mode = mode;
// set initial state of LEDs correctly - transition from one mode to another

8
src/modules/motion.cpp
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@ -6,14 +6,18 @@ namespace motion {
Motion motion;
void Motion::PlanMove(Axis axis, float targetPosition, uint16_t feedrate) {}
void Motion::PlanMove(uint16_t pulley, uint16_t idler, uint16_t selector, uint16_t feedrate, uint16_t starting_speed, uint16_t ending_speed) {}
void Motion::Home(Axis axis) {}
void Motion::Home(Axis axis, bool direction) {}
void Motion::SetMode(MotorMode mode) {}
void Motion::Step() {}
bool Motion::IdlerDisengaged() const { return true; }
bool Motion::IdlerEngaged() const { return true; }
void ISR() {}
//@@TODO check the directions

10
src/modules/motion.h
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@ -58,6 +58,7 @@ public:
static void StepPulley(uint8_t on);
};
/// @@TODO this is subject of discussion and change in the future
class Motion {
public:
/// Init axis driver
@ -67,10 +68,12 @@ public:
void DisableAxis(Axis axis) {}
/// Enqueue move of a specific motor/axis into planner buffer
void PlanMove(Axis axis, float targetPosition, uint16_t feedrate);
/// @param pulley, idler, selector - target coords
void PlanMove(uint16_t pulley, uint16_t idler, uint16_t selector, uint16_t feedrate, uint16_t starting_speed, uint16_t ending_speed);
/// Enqueue performing of homing of an axis
void Home(Axis axis);
/// @@TODO
void Home(Axis axis, bool direction);
/// Set mode of TMC/motors operation
/// Common for all axes/motors
@ -88,6 +91,9 @@ public:
/// probably higher-level operations knowing the semantic meaning of axes
void Idler(IdlerMode im) {}
bool IdlerDisengaged() const;
bool IdlerEngaged() const;
private:
};