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Join feedrates of Load-to-FINDA and Load-to-Nozzle 

MMU-105
pull/143/head
D.R.racer 2021-11-25 15:03:16 +01:00 committed by DRracer
parent 1623f315af
commit 97b362f2b7
7 changed files with 18 additions and 13 deletions
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1
src/config/config.h
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@ -87,6 +87,7 @@ static constexpr U_mm defaultBowdenLength = 427.0_mm; /// ~427.0_mm /// Default
static constexpr U_mm minimumBowdenLength = 341.0_mm; /// ~341.0_mm /// Minimum bowden length. @TODO Should be stored in EEPROM.
static constexpr U_mm maximumBowdenLength = 792.0_mm; /// ~792.0_mm /// Maximum bowden length. @TODO Should be stored in EEPROM.
static constexpr U_mm feedToFinda = cuttingEdgeToFindaMidpoint + filamentMinLoadedToMMU;
static constexpr U_mm maximumFeedToFinda = feedToFinda + 20.0_mm; ///< allow for some safety margin to load to FINDA
static constexpr U_mm pulleyHelperMove = 10.0_mm; /// Helper move for Load/Unload error states - when the MMU should slowly move the filament a bit
static constexpr U_mm cutLength = 8.0_mm;
static constexpr U_mm fsensorToNozzle = 20.0_mm; /// ~20mm from MK4's filament sensor through extruder gears into nozzle

4
src/logic/cut_filament.cpp
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@ -49,7 +49,7 @@ bool CutFilament::StepInner() {
case ProgressCode::SelectingFilamentSlot:
if (mi::idler.Engaged() && ms::selector.Slot() == cutSlot) { // idler and selector finished their moves
mg::globals.SetFilamentLoaded(cutSlot, mg::FilamentLoadState::AtPulley);
feed.Reset(true);
feed.Reset(true, true);
state = ProgressCode::FeedingToFinda;
}
break;
@ -94,7 +94,7 @@ bool CutFilament::StepInner() {
state = ProgressCode::OK;
error = ErrorCode::OK;
ml::leds.SetPairButOffOthers(mg::globals.ActiveSlot(), ml::on, ml::off);
feed.Reset(true);
feed.Reset(true, true);
}
break;
case ProgressCode::OK:

10
src/logic/feed_to_finda.cpp
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@ -11,10 +11,11 @@
#include "../debug.h"
namespace logic {
void FeedToFinda::Reset(bool feedPhaseLimited) {
void FeedToFinda::Reset(bool feedPhaseLimited, bool haltAtEnd) {
dbg_logic_P(PSTR("\nFeed to FINDA\n\n"));
state = EngagingIdler;
this->feedPhaseLimited = feedPhaseLimited;
this->haltAtEnd = haltAtEnd;
ml::leds.SetPairButOffOthers(mg::globals.ActiveSlot(), ml::blink0, ml::off);
mi::idler.Engage(mg::globals.ActiveSlot());
// We can't get any FINDA readings if the selector is at the wrong spot - move it accordingly if necessary
@ -33,19 +34,20 @@ bool FeedToFinda::Step() {
// if (mg::globals.FilamentLoaded() == mg::FilamentLoadState::NotLoaded) { // feed slowly filament to PTFE
// mm::motion.PlanMove<mm::Pulley>(config::filamentMinLoadedToMMU, config::pulleySlowFeedrate);
// }
mm::motion.PlanMove<mm::Pulley>(config::feedToFinda, config::pulleyFeedrate);
mm::motion.PlanMove<mm::Pulley>(config::maximumFeedToFinda, config::pulleySlowFeedrate);
mg::globals.SetFilamentLoaded(mg::globals.ActiveSlot(), mg::FilamentLoadState::InSelector);
mui::userInput.Clear(); // remove all buffered events if any just before we wait for some input
}
return false;
case PushingFilament: {
if (mf::finda.Pressed() || (feedPhaseLimited && mui::userInput.AnyEvent())) { // @@TODO probably also a command from the printer
mm::motion.AbortPlannedMoves(); // stop pushing filament
if (mf::finda.Pressed() || (feedPhaseLimited && mui::userInput.AnyEvent())) {
mm::motion.AbortPlannedMoves(haltAtEnd); // stop pushing filament
// FINDA triggered - that means it works and detected the filament tip
mg::globals.SetFilamentLoaded(mg::globals.ActiveSlot(), mg::FilamentLoadState::InSelector);
dbg_logic_P(PSTR("Feed to Finda --> Idler disengaged"));
dbg_logic_fP(PSTR("Pulley end steps %u"), mm::motion.CurPosition(mm::Pulley));
state = OK;
return true; // return immediately to allow for a seamless planning of another move (like feeding to bondtech)
} else if (mm::motion.QueueEmpty()) { // all moves have been finished and FINDA didn't switch on
state = Failed;
ml::leds.SetPairButOffOthers(mg::globals.ActiveSlot(), ml::off, ml::blink0);

4
src/logic/feed_to_finda.h
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@ -30,7 +30,8 @@ struct FeedToFinda {
/// * true feed phase is limited, doesn't react on button press
/// * false feed phase is unlimited, can be interrupted by any button press after blanking time
/// Beware: the function returns immediately without actually doing anything if the FINDA is "pressed", i.e. the filament is already at the FINDA
void Reset(bool feedPhaseLimited);
/// @param haltAtEnd true if the Pulley's motion shall be brought into a halt (which is what LoadFilament wants, but not ToolChange)
void Reset(bool feedPhaseLimited, bool haltAtEnd);
/// @returns true if the state machine finished its job, false otherwise
bool Step();
@ -43,6 +44,7 @@ struct FeedToFinda {
private:
uint8_t state;
bool feedPhaseLimited;
bool haltAtEnd;
};
} // namespace logic

2
src/logic/load_filament.cpp
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@ -26,7 +26,7 @@ void LoadFilament::Reset(uint8_t param) {
void logic::LoadFilament::Reset2() {
state = ProgressCode::FeedingToFinda;
error = ErrorCode::RUNNING;
feed.Reset(true);
feed.Reset(true, true);
ml::leds.SetPairButOffOthers(mg::globals.ActiveSlot(), ml::blink0, ml::off);
}

4
src/logic/tool_change.cpp
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@ -40,7 +40,7 @@ void ToolChange::Reset(uint8_t param) {
error = ErrorCode::RUNNING;
dbg_logic_P(PSTR("Filament is not loaded --> load"));
mg::globals.SetFilamentLoaded(plannedSlot, mg::FilamentLoadState::InSelector);
feed.Reset(true);
feed.Reset(true, false);
}
}
@ -67,7 +67,7 @@ bool ToolChange::StepInner() {
state = ProgressCode::FeedingToFinda;
error = ErrorCode::RUNNING;
mg::globals.SetFilamentLoaded(plannedSlot, mg::FilamentLoadState::AtPulley);
feed.Reset(true);
feed.Reset(true, false);
}
break;
case ProgressCode::FeedingToFinda:

6
tests/unit/logic/feed_to_finda/test_feed_to_finda.cpp
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@ -31,7 +31,7 @@ TEST_CASE("feed_to_finda::feed_phase_unlimited", "[feed_to_finda]") {
main_loop();
// restart the automaton
ff.Reset(false);
ff.Reset(false, true);
REQUIRE(ff.State() == FeedToFinda::EngagingIdler);
@ -99,7 +99,7 @@ TEST_CASE("feed_to_finda::FINDA_failed", "[feed_to_finda]") {
main_loop();
// restart the automaton - we want the limited version of the feed
ff.Reset(true);
ff.Reset(true, true);
REQUIRE(ff.State() == FeedToFinda::EngagingIdler);
@ -128,7 +128,7 @@ TEST_CASE("feed_to_finda::FINDA_failed", "[feed_to_finda]") {
REQUIRE(WhileCondition(
ff,
[&](uint32_t) { return ff.State() == FeedToFinda::PushingFilament; },
5000));
10000));
// the FINDA didn't trigger, we should be in the Failed state
REQUIRE(ff.State() == FeedToFinda::Failed);