This PR brings the following improvements:
- unifies the error handling of TMC and Homing/Stallguard errors on all motorized modules (Idler, Selector, Pulley)
- now we distinguish between Homing and TMC errors + we have a separate handling of these two kinds into CommandBase unified for all motorized modules
- adds unit tests to verify the function
- fixes SetFINDAStateAndDebounce (didn't obey the press parameter before)
Slower loading speed is necessary for precise detection
of filament sensor trigger and starting rotation of the E-motor.
Experimentally it turned out speeds above 80mm/s tend to cause timing issues
(sometimes one can hear a crack as MMU' or the printer's drive gears
slip while pushing the filament).
Such a timing issue then causes blobs in purge towers.
On the other hand - 80mm/s for the fast part of filament load
seems not only absolutely reliable, but also very quiet.
120mm/s for unload is much louder (we may slow it down later)
In AVR __builtin_abs() breaks for non-base types.
Provide a generic function and use an overload when it is safe to use
instead.
This fixes the underlying step count calculation in PlanMove, thus
removing the need for the PlanLongMove work-around.
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
- Remove the combined PlanMove(a,b,c,rate) call. If we allow the units
of the various motors to be changed at compile time, the unit of
rate can vary between axes.
- Build PlanMove on top of the absolute PlanMoveTo.
- Add required stubs for TMC2130.
- Allow each axis mode to be set independently, since we have this
feature for free anyway.
- Rework internals to use PulseGen data types and structs.
D.R.racer
Yuri D'Elia
3d-gussner