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Logic - first try

pull/19/head
D.R.racer 2021-05-31 11:24:34 +02:00
parent 019f74d6f2
commit d86b3ca95a
5 changed files with 161 additions and 0 deletions
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132
src/logic/mm_control.cpp Normal file
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@ -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

10
src/logic/mm_control.h
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@ -6,4 +6,14 @@
namespace logic {
// schvalne zkusime udelat operaci unload filament
class Logic {
public:
inline Logic() = default;
void UnloadFilament();
};
} // namespace logic

6
src/modules/buttons.h
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@ -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

2
src/modules/leds.h
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@ -91,5 +91,7 @@ private:
uint16_t ms;
};
extern LEDs leds;
} // namespace LEDs
} // namespace modules

11
src/modules/motion.h
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@ -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:
};