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

MMU-105

src/config/config.h

@@ -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

src/logic/cut_filament.cpp

@@ -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:

src/logic/feed_to_finda.cpp

@@ -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
+        if (mf::finda.Pressed() || (feedPhaseLimited && mui::userInput.AnyEvent())) {
-            mm::motion.AbortPlannedMoves(); // stop pushing filament
+            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);

src/logic/feed_to_finda.h

@@ -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

src/logic/load_filament.cpp

@@ -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);
 }
 

src/logic/tool_change.cpp

@@ -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:

tests/unit/logic/feed_to_finda/test_feed_to_finda.cpp

@@ -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);