It looks we have some kind of leak when filament sensor state is not completely coherent with FINDA state.
This is yet to be discovered and fixed with some unit tests.
If the MMU receives a command LoadFilament with a slot number SL we reject
the command to avoid moving the selector (effectively cutting the piece of filament present in FINDA).
That includes the scenario when the selector is standing at the very same slot SL, because the filament could be held by the printer (i.e. loaded in the nozzle).
There is one special case though - same slot AND filament load state == InSelector (it MUST NOT be anywhere farther)
- circular buffer can return its count of elements (even though a better solution may be implemeted later)
- stub_motion can handle multiple planned moves
- improved load/unload filament tests
Both movable components now perform homing sequences transparently
whenever the logic layer invalidates the homingValid flag.
That reflects the fact, that the user may have moved the Idler or Selector
while trying to resolve a HW issue with un/loading filament.
Basic rules:
- Idler gets rehomed immediately and then moves into the target slot position
- Selector rehomes once it is possible - i.e. when filament load state
is AtPulley - then it immediately and spontanneously executes the homing
sequence and then returns to the desired state
Motivation:
- resolve startup issues (EEPROM says we have filament, but FINDA is not triggered)
- resolve accidental moves of Idler and/or Selector while
digging out stuck filament from the unit
- fix homing procedure for Idler and Selector
(homing now ends with a move to the Parking position)
- fix unit tests' startup conditions with regard to necessary
homing of Idler and Selector
TODO: still test_cut_filament fails for minor reasons
That includes:
- introduce pulley slow feedrate and fsensor-to-nozzle distance
in config necessary for slowly feeding the filament from fsensor into the nozzle.
(the constant is subject to extraction into some other config as it has to be used in the printer as well).
- update FeedToBondtech accordingly to perform a gentle push into the nozzle
after fsensor detects the filament + update its unit tests.
- slight cleanup of LoadFilament + fix its unit tests
- add FeedingToNozzle progress code, as it might be interesting
to inform the printer about this task in the future
- revert non-clean changes from RetractFromFinda - it should not disengage the idler
- revert incorrect + fix ToolChange
- clean-up UnloadFilament
because of the change of semantics of LoadFilament operation.
LoadFilament pushes the filament into FINDA and then retracts it back just to keep the
filament ready to be grabbed by the idler and pulley and loaded into the printer's nozzle.
So the selector is not blocked by the filament -> filament NOT loaded
Load filament performs feed to FINDA and retract:
- engage idler
- feed normal to FINDA with config::feedToFinda distance until FINDA triggers
- retract normal and as soon FINDA un-triggers move back to PTFE config::cuttingEdgeToFindaMidpoint
- disengage the idler
That implied introducing another substate machine - RetractFromFinda, which does the opposite
of FeedToFinda while also checking for the FINDA switching off while retracting filament.
Still, ToolChange and CutFilament need fixing with this change
Besides Unload Filament, which only operates on active slot, all other
top level state machines check the validity of the command's parameter.
If the parameter is out of range for available slots, they return
ErrorCode::INVALID_TOOL now.
- Distinguish among FINDA on/off failuje
- The same applies to newly introduced Filament sensor errors
- Add TMC init error
- Add a communication error ID - to be used on the printer
D.R.racer
3d-gussner