From 8a6d962bd4c9b2ecf9c8ad3d48435d475c313c68 Mon Sep 17 00:00:00 2001
From: "D.R.racer" <drracer@drracer.eu>
Date: Wed, 12 Jan 2022 15:33:15 +0100
Subject: [PATCH] Separate load/unload speeds + faster

Slower loading speed is necessary for precise detection
of filament sensor trigger and starting rotation of the E-motor.
Experimentally it turned out speeds above 80mm/s tend to cause timing issues
(sometimes one can hear a crack as MMU' or the printer's drive gears
slip while pushing the filament).

Such a timing issue then causes blobs in purge towers.

On the other hand - 80mm/s for the fast part of filament load
seems not only absolutely reliable, but also very quiet.
120mm/s for unload is much louder (we may slow it down later)
---
 src/config/config.h              | 10 +++++++---
 src/logic/cut_filament.cpp       |  4 ++--
 src/logic/feed_to_bondtech.cpp   |  2 +-
 src/logic/retract_from_finda.cpp |  2 +-
 src/logic/unload_to_finda.cpp    |  2 +-
 5 files changed, 12 insertions(+), 8 deletions(-)

diff --git a/src/config/config.h b/src/config/config.h
index 2d1bbf5..1e0b139 100644
--- a/src/config/config.h
+++ b/src/config/config.h
@@ -111,7 +111,11 @@ static constexpr PulleyLimits pulleyLimits = {
     .jerk = 4.0_mm_s,
     .accel = 800.0_mm_s2,
 };
-static constexpr U_mm_s pulleyFeedrate = 40._mm_s;
+
+static constexpr U_mm_s pulleyUnloadFeedrate = 120._mm_s;
+/// 120mm_s is too much, the printer cannot send the status of fsensor that fast
+/// and false fsensor_not_triggered errors start to occur
+static constexpr U_mm_s pulleyLoadFeedrate = 80._mm_s;
 static constexpr U_mm_s pulleySlowFeedrate = 20._mm_s;
 /// End: Pulley axis configuration
 
@@ -160,7 +164,7 @@ static constexpr U_mm selectorSlotPositions[toolCount + 1] = {
     //    SelectorOffsetFromMin - 1.0_mm - 5 * SelectorSlotDistance ///75.5_mm - 1.0_mm - 5 * 14.0_mm = 4.5_mm
 };
 
-static constexpr U_mm_s selectorFeedrate = 30._mm_s;
+static constexpr U_mm_s selectorFeedrate = 45._mm_s;
 /// End: Selector configuration
 
 /// Begin: Idler configuration
@@ -198,7 +202,7 @@ static constexpr U_deg idlerSlotPositions[toolCount + 1] = {
 
 static constexpr U_deg idlerParkPositionDelta = -IdlerSlotDistance + 5.0_deg / 2; ///@TODO verify
 
-static constexpr U_deg_s idlerFeedrate = 200._deg_s;
+static constexpr U_deg_s idlerFeedrate = 300._deg_s;
 /// End: Idler configuration
 
 // TMC2130 setup
diff --git a/src/logic/cut_filament.cpp b/src/logic/cut_filament.cpp
index f790d52..dbaae44 100644
--- a/src/logic/cut_filament.cpp
+++ b/src/logic/cut_filament.cpp
@@ -60,7 +60,7 @@ bool CutFilament::StepInner() {
             } else {
                 // unload back to the pulley
                 state = ProgressCode::UnloadingToPulley;
-                mm::motion.PlanMove<mm::Pulley>(-config::cutLength, config::pulleyFeedrate);
+                mm::motion.PlanMove<mm::Pulley>(-config::cutLength, config::pulleyUnloadFeedrate);
             }
         }
         break;
@@ -74,7 +74,7 @@ bool CutFilament::StepInner() {
     case ProgressCode::PreparingBlade:
         if (ms::selector.Slot() == cutSlot + 1) {
             state = ProgressCode::PushingFilament;
-            mm::motion.PlanMove<mm::Pulley>(config::cutLength, config::pulleyFeedrate); //
+            mm::motion.PlanMove<mm::Pulley>(config::cutLength, config::pulleyUnloadFeedrate); //
         }
         break;
     case ProgressCode::PushingFilament:
diff --git a/src/logic/feed_to_bondtech.cpp b/src/logic/feed_to_bondtech.cpp
index 130883b..d1890b8 100644
--- a/src/logic/feed_to_bondtech.cpp
+++ b/src/logic/feed_to_bondtech.cpp
@@ -35,7 +35,7 @@ bool FeedToBondtech::Step() {
             dbg_logic_fP(PSTR("Pulley start steps %u"), mm::motion.CurPosition(mm::Pulley));
             state = PushingFilamentToFSensor;
             mm::motion.InitAxis(mm::Pulley);
-            mm::motion.PlanMove<mm::Pulley>(config::defaultBowdenLength, config::pulleyFeedrate, config::pulleySlowFeedrate);
+            mm::motion.PlanMove<mm::Pulley>(config::defaultBowdenLength, config::pulleyLoadFeedrate, config::pulleySlowFeedrate);
         }
         return false;
     case PushingFilamentToFSensor:
diff --git a/src/logic/retract_from_finda.cpp b/src/logic/retract_from_finda.cpp
index 5d321ca..651d334 100644
--- a/src/logic/retract_from_finda.cpp
+++ b/src/logic/retract_from_finda.cpp
@@ -22,7 +22,7 @@ bool RetractFromFinda::Step() {
         if (mi::idler.Engaged()) {
             dbg_logic_fP(PSTR("Pulley start steps %u"), mm::motion.CurPosition(mm::Pulley));
             state = UnloadBackToPTFE;
-            mm::motion.PlanMove<mm::Pulley>(-(config::cuttingEdgeToFindaMidpoint + config::cuttingEdgeRetract), config::pulleyFeedrate);
+            mm::motion.PlanMove<mm::Pulley>(-(config::cuttingEdgeToFindaMidpoint + config::cuttingEdgeRetract), config::pulleyUnloadFeedrate);
         }
         return false;
     case UnloadBackToPTFE:
diff --git a/src/logic/unload_to_finda.cpp b/src/logic/unload_to_finda.cpp
index a25a509..c969326 100644
--- a/src/logic/unload_to_finda.cpp
+++ b/src/logic/unload_to_finda.cpp
@@ -36,7 +36,7 @@ bool UnloadToFinda::Step() {
         if (mi::idler.Engaged()) {
             state = WaitingForFINDA;
             mg::globals.SetFilamentLoaded(mg::globals.ActiveSlot(), mg::FilamentLoadState::InSelector);
-            mm::motion.PlanMove<mm::Pulley>(-config::defaultBowdenLength - config::feedToFinda - config::filamentMinLoadedToMMU, config::pulleyFeedrate);
+            mm::motion.PlanMove<mm::Pulley>(-config::defaultBowdenLength - config::feedToFinda - config::filamentMinLoadedToMMU, config::pulleyUnloadFeedrate);
         }
         return false;
     case WaitingForFINDA: