Rename Motion::DisableAxis to Disable

Implement Motion::SetEnabled (for symmetry with TMC2130::SetEnabled).

Rename DisableAxis to Disable and use the new SetEnabled. This makes the
member names more consistent.

src/logic/eject_filament.cpp

@@ -61,7 +61,7 @@ bool EjectFilament::Step() {
         break;
     case ProgressCode::DisengagingIdler:
         if (!mi::idler.Engaged()) { // idler disengaged
-            mm::motion.DisableAxis(mm::Pulley);
+            mm::motion.Disable(mm::Pulley);
             state = ProgressCode::OK;
         }
         break;

src/logic/load_filament.cpp

@@ -59,7 +59,7 @@ bool LoadFilament::Step() {
             case FeedToBondtech::Failed:
 
             case FeedToBondtech::OK:
-                mm::motion.DisableAxis(mm::Pulley);
+                mm::motion.Disable(mm::Pulley);
                 mi::idler.Disengage();
                 state = ProgressCode::DisengagingIdler;
             }

src/logic/unload_filament.cpp

@@ -63,7 +63,7 @@ bool UnloadFilament::Step() {
     case ProgressCode::FinishingMoves:
         if (mm::motion.QueueEmpty()) {
             state = ProgressCode::OK;
-            mm::motion.DisableAxis(mm::Pulley);
+            mm::motion.Disable(mm::Pulley);
             mg::globals.SetFilamentLoaded(false); // filament unloaded
             ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::on);
         }

src/modules/idler.cpp

@@ -66,7 +66,7 @@ bool Idler::Step() {
         currentSlot = plannedSlot;
 
         if (!Engaged()) // turn off power into the Idler motor when disengaged (no force necessary)
-            mm::motion.DisableAxis(mm::Idler);
+            mm::motion.Disable(mm::Idler);
 
         return true;
     case Failed:

src/modules/motion.cpp

@@ -7,7 +7,10 @@ Motion motion;
 
 void Motion::InitAxis(Axis axis) {}
 
-void Motion::DisableAxis(Axis axis) {}
+void Motion::SetEnabled(Axis axis, bool enabled) {
+    axisData[axis].drv.SetEnabled(axisParams[axis].params, enabled);
+    axisData[axis].enabled = enabled;
+}
 
 bool Motion::StallGuard(Axis axis) { return false; }
 

src/modules/motion.h

@@ -77,8 +77,11 @@ public:
     /// state especially when the TMC may get randomly reset (deinited)
     void InitAxis(Axis axis);
 
+    /// Set axis power status
+    void SetEnabled(Axis axis, bool enabled);
+
     /// Disable axis motor
-    void DisableAxis(Axis axis);
+    void Disable(Axis axis) { SetEnabled(axis, false); }
 
     /// @returns true if a stall guard event occurred recently on the axis
     bool StallGuard(Axis axis);
@@ -148,6 +151,7 @@ private:
     struct AxisData {
         TMC2130 drv; ///< Motor driver
         pulse_gen::PulseGen ctrl; ///< Motor controller
+        bool enabled; ///< Axis enabled
     };
 
     /// Helper to initialize AxisData members

src/modules/selector.cpp

@@ -44,7 +44,7 @@ bool Selector::Step() {
         return false;
     case Ready:
         currentSlot = plannedSlot;
-        mm::motion.DisableAxis(mm::Selector); // turn off selector motor's power every time
+        mm::motion.Disable(mm::Selector); // turn off selector motor's power every time
         return true;
     case Failed:
     default:

tests/unit/logic/stubs/stub_motion.cpp

@@ -18,8 +18,8 @@ void Motion::InitAxis(Axis axis) {
     axes[axis].enabled = true;
 }
 
-void Motion::DisableAxis(Axis axis) {
-    axes[axis].enabled = false;
+void Motion::SetEnabled(Axis axis, bool enabled) {
+    axes[axis].enabled = enabled;
 }
 
 bool Motion::StallGuard(Axis axis) {