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Convert config::selectorSlotPositions to physical units

pull/71/head
Yuri D'Elia 2021-07-25 23:13:28 +02:00
parent 6daf7fd060
commit d955897829
9 changed files with 26 additions and 18 deletions
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4
src/config/config.h
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@ -13,7 +13,9 @@ static constexpr U_deg idlerSlotPositions[toolCount + 1] = {
}; ///< slots 0-4 are the real ones, the 5th is the idle position
// Selector's setup
static constexpr uint16_t selectorSlotPositions[toolCount + 1] = { 1, 2, 3, 4, 5, 6 }; ///< slots 0-4 are the real ones, the 5th is the farthest parking positions
static constexpr U_mm selectorSlotPositions[toolCount + 1] = {
1.0_mm, 2.0_mm, 3.0_mm, 4.0_mm, 5.0_mm, 6.0_mm
}; ///< slots 0-4 are the real ones, the 5th is the farthest parking positions
// Printer's filament sensor setup
static constexpr const uint16_t fsensorDebounceMs = 10;

2
src/modules/selector.cpp
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@ -21,7 +21,7 @@ bool Selector::MoveToSlot(uint8_t slot) {
return true;
mm::motion.InitAxis(mm::Selector);
mm::motion.PlanMove(mm::Selector, config::selectorSlotPositions[slot] - mm::motion.Position(mm::Selector), 1000); // @@TODO
mm::motion.PlanMoveTo<mm::Selector>(SlotPosition(slot), 1000.0_S_mm_s); // @@TODO
state = Moving;
return true;
}

8
src/modules/selector.h
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@ -1,12 +1,14 @@
#pragma once
#include "../config/config.h"
#include <stdint.h>
#include "../modules/axisunit.h"
namespace modules {
/// The selector namespace provides all necessary facilities related to the logical model of the selector device of the MMU unit.
namespace selector {
namespace mm = modules::motion;
/// The selector model - handles asynchronnous move operations between filament individual slots and keeps track of selector's current state.
class Selector {
public:
@ -41,7 +43,9 @@ public:
inline uint8_t Slot() const { return currentSlot; }
/// @returns predefined positions of individual slots
inline static uint16_t SlotPosition(uint8_t slot) { return config::selectorSlotPositions[slot]; }
static constexpr mm::S_pos_t SlotPosition(uint8_t slot) {
return mm::unitToAxisUnit<mm::S_pos_t>(config::selectorSlotPositions[slot]);
}
/// @returns the index of idle position of the selector, usually 5 in case of 0-4 valid indices of filament slots
inline static constexpr uint8_t IdleSlotIndex() { return config::toolCount; }

2
tests/unit/logic/eject_filament/test_eject_filament.cpp
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@ -42,7 +42,7 @@ TEST_CASE("eject_filament::eject0", "[eject_filament][.]") {
// it should have instructed the selector and idler to move to slot 1
// check if the idler and selector have the right command
CHECK(modules::motion::axes[modules::motion::Idler].targetPos == mi::Idler::SlotPosition(0).v);
CHECK(modules::motion::axes[modules::motion::Selector].targetPos == ms::Selector::SlotPosition(4));
CHECK(modules::motion::axes[modules::motion::Selector].targetPos == ms::Selector::SlotPosition(4).v);
// now cycle at most some number of cycles (to be determined yet) and then verify, that the idler and selector reached their target positions
REQUIRE(WhileTopState(ef, ProgressCode::SelectingFilamentSlot, 5000));

6
tests/unit/logic/feed_to_bondtech/test_feed_to_bondtech.cpp
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@ -45,7 +45,7 @@ TEST_CASE("feed_to_finda::feed_phase_unlimited", "[feed_to_finda]") {
// it should have instructed the selector and idler to move to slot 0
// check if the idler and selector have the right command
CHECK(mm::axes[mm::Idler].targetPos == mi::Idler::SlotPosition(0).v);
CHECK(mm::axes[mm::Selector].targetPos == ms::Selector::SlotPosition(0));
CHECK(mm::axes[mm::Selector].targetPos == ms::Selector::SlotPosition(0).v);
CHECK(mm::axes[mm::Idler].enabled == true);
// engaging idler
@ -55,7 +55,7 @@ TEST_CASE("feed_to_finda::feed_phase_unlimited", "[feed_to_finda]") {
5000));
CHECK(mm::axes[mm::Idler].pos == mi::Idler::SlotPosition(0).v);
CHECK(mm::axes[mm::Selector].pos == ms::Selector::SlotPosition(0));
CHECK(mm::axes[mm::Selector].pos == ms::Selector::SlotPosition(0).v);
// idler engaged, selector in position, we'll start pushing filament
REQUIRE(fb.State() == FeedToBondtech::PushingFilament);
@ -81,7 +81,7 @@ TEST_CASE("feed_to_finda::feed_phase_unlimited", "[feed_to_finda]") {
// 5000));
// CHECK(mm::axes[mm::Idler].pos == mi::Idler::SlotPosition(5)); // @@TODO constants
CHECK(mm::axes[mm::Selector].pos == ms::Selector::SlotPosition(0));
CHECK(mm::axes[mm::Selector].pos == ms::Selector::SlotPosition(0).v);
// state machine finished ok, the green LED should be on
REQUIRE(fb.State() == FeedToBondtech::OK);

10
tests/unit/logic/feed_to_finda/test_feed_to_finda.cpp
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@ -45,7 +45,7 @@ TEST_CASE("feed_to_finda::feed_phase_unlimited", "[feed_to_finda]") {
// it should have instructed the selector and idler to move to slot 1
// check if the idler and selector have the right command
CHECK(mm::axes[mm::Idler].targetPos == mi::Idler::SlotPosition(0).v);
CHECK(mm::axes[mm::Selector].targetPos == ms::Selector::SlotPosition(0));
CHECK(mm::axes[mm::Selector].targetPos == ms::Selector::SlotPosition(0).v);
CHECK(mm::axes[mm::Idler].enabled == true);
// engaging idler
@ -55,7 +55,7 @@ TEST_CASE("feed_to_finda::feed_phase_unlimited", "[feed_to_finda]") {
5000));
CHECK(mm::axes[mm::Idler].pos == mi::Idler::SlotPosition(0).v);
CHECK(mm::axes[mm::Selector].pos == ms::Selector::SlotPosition(0));
CHECK(mm::axes[mm::Selector].pos == ms::Selector::SlotPosition(0).v);
// idler engaged, selector in position, we'll start pushing filament
REQUIRE(ff.State() == FeedToFinda::PushingFilament);
@ -87,7 +87,7 @@ TEST_CASE("feed_to_finda::feed_phase_unlimited", "[feed_to_finda]") {
// 5000));
CHECK(mm::axes[mm::Idler].pos == mi::Idler::SlotPosition(0).v); // @@TODO constants
CHECK(mm::axes[mm::Selector].pos == ms::Selector::SlotPosition(0));
CHECK(mm::axes[mm::Selector].pos == ms::Selector::SlotPosition(0).v);
// state machine finished ok, the green LED should be on
REQUIRE(ff.State() == FeedToFinda::OK);
@ -112,7 +112,7 @@ TEST_CASE("feed_to_finda::FINDA_failed", "[feed_to_finda]") {
// it should have instructed the selector and idler to move to slot 1
// check if the idler and selector have the right command
CHECK(mm::axes[mm::Idler].targetPos == mi::Idler::SlotPosition(0).v);
CHECK(mm::axes[mm::Selector].targetPos == ms::Selector::SlotPosition(0));
CHECK(mm::axes[mm::Selector].targetPos == ms::Selector::SlotPosition(0).v);
// engaging idler
REQUIRE(WhileCondition(
@ -121,7 +121,7 @@ TEST_CASE("feed_to_finda::FINDA_failed", "[feed_to_finda]") {
5000));
CHECK(mm::axes[mm::Idler].pos == mi::Idler::SlotPosition(0).v);
CHECK(mm::axes[mm::Selector].pos == ms::Selector::SlotPosition(0));
CHECK(mm::axes[mm::Selector].pos == ms::Selector::SlotPosition(0).v);
// idler engaged, we'll start pushing filament
REQUIRE(ff.State() == FeedToFinda::PushingFilament);

4
tests/unit/logic/helpers/helpers.ipp
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@ -5,7 +5,7 @@ bool VerifyState(SM &uf, bool filamentLoaded, uint8_t idlerSlotIndex, uint8_t se
CHECKED_ELSE(mg::globals.FilamentLoaded() == filamentLoaded) { return false; }
CHECKED_ELSE(mm::axes[mm::Idler].pos == mi::Idler::SlotPosition(idlerSlotIndex).v) { return false; }
CHECKED_ELSE(mi::idler.Engaged() == (idlerSlotIndex < config::toolCount)) { return false; }
CHECKED_ELSE(mm::axes[mm::Selector].pos == ms::Selector::SlotPosition(selectorSlotIndex)) { return false; }
CHECKED_ELSE(mm::axes[mm::Selector].pos == ms::Selector::SlotPosition(selectorSlotIndex).v) { return false; }
CHECKED_ELSE(ms::selector.Slot() == selectorSlotIndex) { return false; }
CHECKED_ELSE(mf::finda.Pressed() == findaPressed) { return false; }
@ -32,7 +32,7 @@ bool VerifyState2(SM &uf, bool filamentLoaded, uint8_t idlerSlotIndex, uint8_t s
CHECKED_ELSE(mg::globals.FilamentLoaded() == filamentLoaded) { return false; }
CHECKED_ELSE(mm::axes[mm::Idler].pos == mi::Idler::SlotPosition(idlerSlotIndex).v) { return false; }
CHECKED_ELSE(mi::idler.Engaged() == (idlerSlotIndex < config::toolCount)) { return false; }
CHECKED_ELSE(mm::axes[mm::Selector].pos == ms::Selector::SlotPosition(selectorSlotIndex)) { return false; }
CHECKED_ELSE(mm::axes[mm::Selector].pos == ms::Selector::SlotPosition(selectorSlotIndex).v) { return false; }
CHECKED_ELSE(ms::selector.Slot() == selectorSlotIndex) { return false; }
CHECKED_ELSE(mf::finda.Pressed() == findaPressed) { return false; }

4
tests/unit/logic/stubs/stub_motion.cpp
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@ -70,9 +70,11 @@ void Motion::AbortPlannedMoves() {
}
void ReinitMotion() {
const pos_t selector_pos = unitToSteps<S_pos_t>(config::selectorSlotPositions[0]);
// reset the simulation data to defaults
axes[0] = AxisSim({ 0, 0, false, false, false }); // pulley
axes[1] = AxisSim({ 1, 1, false, false, false }); // selector //@@TODO proper selector positions once defined
axes[1] = AxisSim({ selector_pos, selector_pos, false, false, false }); // selector //@@TODO proper selector positions once defined
axes[2] = AxisSim({ 0, 0, false, false, false }); // idler
}

4
tests/unit/logic/unload_to_finda/test_unload_to_finda.cpp
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@ -45,7 +45,7 @@ TEST_CASE("unload_to_finda::regular_unload", "[unload_to_finda]") {
// it should have instructed the selector and idler to move to slot 1
// check if the idler and selector have the right command
CHECK(mm::axes[mm::Idler].targetPos == mi::Idler::SlotPosition(0).v);
CHECK(mm::axes[mm::Selector].targetPos == ms::Selector::SlotPosition(0));
CHECK(mm::axes[mm::Selector].targetPos == ms::Selector::SlotPosition(0).v);
CHECK(mm::axes[mm::Idler].enabled == true);
// engaging idler
@ -94,7 +94,7 @@ TEST_CASE("unload_to_finda::unload_without_FINDA_trigger", "[unload_to_finda]")
// it should have instructed the selector and idler to move to slot 1
// check if the idler and selector have the right command
CHECK(mm::axes[mm::Idler].targetPos == mi::Idler::SlotPosition(0).v);
CHECK(mm::axes[mm::Selector].targetPos == ms::Selector::SlotPosition(0));
CHECK(mm::axes[mm::Selector].targetPos == ms::Selector::SlotPosition(0).v);
CHECK(mm::axes[mm::Idler].enabled == true);
// engaging idler