Logic - first try

src/logic/mm_control.cpp

@@ -0,0 +1,132 @@
+#include "mm_control.h"
+#include "../modules/motion.h"
+#include "../modules/leds.h"
+#include "../modules/buttons.h"
+
+namespace logic {
+
+// treba tyto zakladni male automaty poslouzi k dalsim ucelum
+// - engage/disengage idler
+// - rotate pulley to some direction as long as the FINDA is on/off
+// - rotate some axis to some fixed direction
+// - unload to finda
+//
+// ten automat musi dat vedet, ze jeste bezi nebo ze uz skoncil
+// hlavni unload filament se podle toho prepne do nejakeho jineho stavu
+// budou tedy 2 kroky
+// - zadani maleho automatu
+// - if( skoncil )
+//     nastav jiny automat, updatuj progress operace atd.
+//   else
+//     cekej (pripadne updatuj progress taky)
+
+void Logic::UnloadFilament() {
+    // unloads filament from extruder - filament is above Bondtech gears
+    modules::motion::motion.InitAxis(modules::motion::Pulley);
+
+    // state 1 engage idler
+    modules::motion::motion.Idler(modules::motion::Motion::Engage); // if idler is in parked position un-park him get in contact with filament
+
+    // state 2 rotate pulley as long as the FINDA is on
+    if (modules::finda::active()) {
+        motion_unload_to_finda();
+    } else {
+        if (checkOk()) {
+            modules::motion::motion.Idler(modules::motion::Motion::Disengage);
+            return;
+        }
+    }
+
+    // state 3 move a little bit so it is not a grinded hole in filament
+    modules::motion::motion.PlanMove(modules::motion::Pulley, -100, 10); // @@TODO constants
+
+    // state 4 WTF??? FINDA is still sensing filament, let's try to unload it once again
+    if (modules::finda::active()) {
+        // try it 6 times
+        for (int i = 6; i > 0; i--) {
+            if (modules::finda::active()) {
+                // set_pulley_dir_push();
+                modules::motion::motion.PlanMove(modules::motion::Pulley, 150, 3000); // @@TODO constants
+                // set_pulley_dir_pull();
+
+                // cancel move if FINDA switched off
+
+                //                int _steps = 4000;
+                //                uint8_t _endstop_hit = 0;
+                //                do {
+                //                    do_pulley_step();
+                //                    _steps--;
+                //                    delayMicroseconds(3000);
+                //                    if (! modules::finda::active()) _endstop_hit++;
+                //                } while (_endstop_hit < 100 && _steps > 0);
+            }
+            //            delay(100);
+        }
+    }
+
+    // state 5 error, wait for user input
+    if (modules::finda::active()) {
+        bool _continue = false;
+        bool _isOk = false;
+
+        modules::motion::motion.Idler(modules::motion::Motion::Disengage);
+
+        modules::leds::leds.SetMode(active_extruder, modules::leds::red, modules::leds::blink0);
+
+        do {
+            if (modules::buttons::buttons.ButtonPressed(modules::buttons::Left)) {
+                // just move filament little bit
+                modules::motion::motion.Idler(modules::motion::Motion::Engage);
+                // set_pulley_dir_pull();
+
+                modules::motion::motion.PlanMove(modules::motion::Pulley, 200, 10); // @@TODO constants
+                //                for (int i = 0; i < 200; i++) {
+                //                    do_pulley_step();
+                //                    delayMicroseconds(5500);
+                //                }
+
+                // wait for move to finish
+
+                modules::motion::motion.Idler(modules::motion::Motion::Disengage);
+            } else if (modules::buttons::buttons.ButtonPressed(modules::buttons::Middle)) {
+                // check if everything is ok
+                modules::motion::motion.Idler(modules::motion::Motion::Engage);
+                _isOk = checkOk();
+                modules::motion::motion.Idler(modules::motion::Motion::Disengage);
+            } else if (modules::buttons::buttons.ButtonPressed(modules::buttons::Right)) {
+                // continue with unloading
+                modules::motion::motion.Idler(modules::motion::Motion::Engage);
+                _isOk = checkOk();
+                modules::motion::motion.Idler(modules::motion::Motion::Disengage);
+            }
+            if (_isOk) {
+                _continue = true;
+            }
+        } while (!_continue);
+
+        //shr16_set_led(1 << 2 * (4 - active_extruder));
+        modules::leds::leds.SetMode(active_extruder, modules::leds::red, modules::leds::off);
+        modules::leds::leds.SetMode(active_extruder, modules::leds::green, modules::leds::on);
+        modules::motion::motion.Idler(modules::motion::Motion::Engage);
+    } else {
+        // correct unloading
+        // unload to PTFE tube
+        // set_pulley_dir_pull();
+        modules::motion::motion.PlanMove(modules::motion::Pulley, 450, 10); // @@TODO constants
+        // wait for move to finish
+
+        //        for (int i = 450; i > 0; i--)   // 570
+        //        {
+        //            do_pulley_step();
+        //            delayMicroseconds(5000);
+        //        }
+    }
+
+    modules::motion::motion.Idler(modules::motion::Motion::Disengage);
+
+    modules::motion::motion.DisableAxis(modules::motion::Pulley);
+
+    isFilamentLoaded = false; // filament unloaded
+}
+
+} // namespace logic

src/logic/mm_control.h

@@ -6,4 +6,14 @@
 
 namespace logic {
 
+// schvalne zkusime udelat operaci unload filament
+
+class Logic {
+
+public:
+    inline Logic() = default;
+
+    void UnloadFilament();
+};
+
 } // namespace logic

src/modules/buttons.h

@@ -19,6 +19,12 @@ private:
     constexpr static const uint16_t debounce = 100;
 };
 
+enum {
+    Left = 0,
+    Middle,
+    Right
+};
+
 class Buttons {
     constexpr static const uint8_t N = 3; ///< number of buttons currently supported
     constexpr static const uint8_t adc = 1; ///< ADC index - will be some define or other constant later on

src/modules/leds.h

@@ -91,5 +91,7 @@ private:
     uint16_t ms;
 };
 
+extern LEDs leds;
+
 } // namespace LEDs
 } // namespace modules

src/modules/motion.h

@@ -37,6 +37,12 @@ enum Mode {
 
 class Motion {
 public:
+    /// Init axis driver
+    void InitAxis(Axis axis) {}
+
+    /// Disable axis motor
+    void DisableAxis(Axis axis) {}
+
     /// Enqueue move of a specific motor/axis into planner buffer
     void PlanMove(Axis axis, float targetPosition, uint16_t feedrate);
 
@@ -50,6 +56,11 @@ public:
     /// State machine doing all the planning and stepping preparation based on received commands
     void Step();
 
+    /// probably higher-level operations knowing the semantic meaning of axes
+    enum IdlerMode { Engage,
+        Disengage };
+    void Idler(IdlerMode im) {}
+
 private:
 };