Michal
/
Prusa-Firmware-MMU
mirror of https://github.com/prusa3d/Prusa-Firmware-MMU
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

idler: reduce duplicate code 

Change in memory:
Flash: 54 bytes
SRAM: 0 bytes
pull/342/head
Guðni Már Gilbert 2024-12-25 00:43:55 +00:00
parent 4ab07d627a
commit 8c691fdce2
1 changed files with 3 additions and 23 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

26
src/modules/idler.cpp
View File

@ -69,27 +69,7 @@ bool Idler::StallGuardAllowed(bool forward) const {
}
Idler::OperationResult Idler::Disengage() {
if (state == Moving || IsOnHold()) {
dbg_logic_P(PSTR("Moving --> Disengage refused"));
return OperationResult::Refused;
}
plannedSlot = IdleSlotIndex();
plannedMove = Operation::disengage;
// coordinates invalid, first home, then disengage
if (!homingValid) {
PlanHome();
return OperationResult::Accepted;
}
// already disengaged
if (Disengaged()) {
dbg_logic_P(PSTR("Idler Disengaged"));
return OperationResult::Accepted;
}
// disengaging
return InitMovementNoReinitAxis();
return PlanMoveInner(IdleSlotIndex(), Operation::disengage);
}
Idler::OperationResult Idler::PartiallyDisengage(uint8_t slot) {
@ -114,7 +94,7 @@ Idler::OperationResult Idler::PlanMoveInner(uint8_t slot, Operation plannedOp) {
return OperationResult::Accepted;
}
// coordinates invalid, first home, then engage
// coordinates invalid, first home, then engage or disengage
// The MMU FW only decides to engage the Idler when it is supposed to do something and not while it is idle
// so rebooting the MMU while the printer is printing (and thus holding the filament by the moving Idler)
// should not be an issue
@ -123,7 +103,7 @@ Idler::OperationResult Idler::PlanMoveInner(uint8_t slot, Operation plannedOp) {
return OperationResult::Accepted;
}
// already engaged
// already engaged or disengaged
if (currentlyEngaged == plannedMove) {
return OperationResult::Accepted;
}