Rebase onto main: use axisUnitToTruncatedUnit

src/logic/unload_to_finda.cpp

@@ -23,11 +23,6 @@ void UnloadToFinda::Reset(uint8_t maxTries) {
     }
 }
 
-// @@TODO this may end up somewhere else as more code may need to check the distance traveled by the filament
-int32_t CurrentPositionPulley_mm() {
-    return mm::axisUnitToTruncatedUnit<config::U_mm>(mm::motion.CurPosition<mm::Pulley>());
-}
-
 bool UnloadToFinda::Step() {
     switch (state) {
     case EngagingIdler:
@@ -48,7 +43,7 @@ bool UnloadToFinda::Step() {
         }
         return false;
     case WaitingForFINDA: {
-        int32_t currentPulley_mm = CurrentPositionPulley_mm();
+        int32_t currentPulley_mm = mpu::pulley.CurrentPosition_mm();
         if ((abs(unloadStart_mm - currentPulley_mm) > mm::truncatedUnit(config::fsensorUnloadCheckDistance)) && mfs::fsensor.Pressed()) {
             // fsensor didn't trigger within the first fsensorUnloadCheckDistance mm -> stop pulling, something failed, report an error
             // This scenario should not be tried again - repeating it may cause more damage to filament + potentially more collateral damage

src/modules/idler.cpp

@@ -25,14 +25,14 @@ void Idler::PlanHomingMoveForward() {
 void Idler::PlanHomingMoveBack() {
     // we expect that we are at the front end of the axis, set the expected axis' position
     mm::motion.SetPosition(mm::Idler, mm::unitToSteps<mm::I_pos_t>(config::idlerLimits.lenght));
-    axisStart = mm::stepsToUnit<mm::I_pos_t>(mm::I_pos_t({ mm::motion.CurPosition(mm::Idler) }));
+    axisStart = mm::axisUnitToTruncatedUnit<config::U_deg>(mm::motion.CurPosition<mm::Idler>());
     mm::motion.PlanMove<mm::Idler>(mm::unitToAxisUnit<mm::I_pos_t>(-config::idlerLimits.lenght * 2), mm::unitToAxisUnit<mm::I_speed_t>(config::idlerFeedrate));
     dbg_logic_P(PSTR("Plan Homing Idler Back"));
 }
 
 bool Idler::FinishHomingAndPlanMoveToParkPos() {
     // check the axis' length
-    int32_t axisEnd = mm::stepsToUnit<mm::I_pos_t>(mm::I_pos_t({ mm::motion.CurPosition(mm::Idler) }));
+    int32_t axisEnd = mm::axisUnitToTruncatedUnit<config::U_deg>(mm::motion.CurPosition<mm::Idler>());
     if (abs(axisEnd - axisStart) < (config::idlerLimits.lenght.v - 10)) { //@@TODO is 10 degrees ok?
         return false; // we couldn't home correctly, we cannot set the Idler's position
     }

src/modules/pulley.cpp

@@ -40,7 +40,7 @@ void Pulley::PlanMove(unit::U_mm delta, unit::U_mm_s feed_rate, unit::U_mm_s end
 }
 
 int32_t Pulley::CurrentPosition_mm() {
-    return mm::stepsToUnit<mm::P_pos_t>(mm::P_pos_t({ mm::motion.CurPosition(mm::Pulley) }));
+    return mm::axisUnitToTruncatedUnit<config::U_mm>(mm::motion.CurPosition<mm::Pulley>());
 }
 
 void Pulley::InitAxis() {

src/modules/selector.cpp

@@ -26,14 +26,14 @@ void Selector::PlanHomingMoveForward() {
 void Selector::PlanHomingMoveBack() {
     // we expect that we are at the front end of the axis, set the expected axis' position
     mm::motion.SetPosition(mm::Selector, 0);
-    axisStart = mm::stepsToUnit<mm::S_pos_t>(mm::S_pos_t({ mm::motion.CurPosition(mm::Selector) }));
+    axisStart = mm::axisUnitToTruncatedUnit<config::U_mm>(mm::motion.CurPosition<mm::Selector>());
     mm::motion.PlanMove<mm::Selector>(mm::unitToAxisUnit<mm::S_pos_t>(config::selectorLimits.lenght * 2), mm::unitToAxisUnit<mm::S_speed_t>(config::selectorFeedrate));
     dbg_logic_P(PSTR("Plan Homing Selector Back"));
 }
 
 bool Selector::FinishHomingAndPlanMoveToParkPos() {
     // check the axis' length
-    int32_t axisEnd = mm::stepsToUnit<mm::S_pos_t>(mm::S_pos_t({ mm::motion.CurPosition(mm::Selector) }));
+    int32_t axisEnd = mm::axisUnitToTruncatedUnit<config::U_mm>(mm::motion.CurPosition<mm::Selector>());
     if (abs(axisEnd - axisStart) < (config::selectorLimits.lenght.v - 3)) { //@@TODO is 3mm ok?
         return false; // we couldn't home correctly, we cannot set the Selector's position
     }