This is to solve a potential problem while feeding to printer's drive gears - while disengaging the Idler, the Pulley was still rotating to avoid grinding the filament (printer is pulling it).
Other filaments could have moved a bit when the Idler's bearings ran over them while the Pulley was still rotating slowly -> the filament could have been moved into the Selector's path causing trouble (especially when not used in the print).
Therefore, the Idler disengages partially now - moves into an intermediate position between the slots.
Then, the Pulley is completely stopped and after that the Idler does a full disengage like before.
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)
Originally, only FeedingToBondtech was reported to the printer.
With PR#173 we have this operation separated into a fast and a slow stage (for MK3S with the chimney).
It looks like the printer could benefit from knowing if the MMU is still pushing fast
or when it entered the slow stage (to prevent ramming hard the Bondtech gears)
Along with this new state being reported, we also introduce a new ErrorCode::FSENSOR_TOO_EARLY
which basically means that the fsensor triggered in the fast feeding stage.
This commit looks horribly complex, but the main idea is to have each of the logic::commands
report their terminal OK state in the same way. That allow for leveraging this very moment
to initiate the idle timeout.
Additionally, I wanted to hide the logic of idle mode detection, which resulted in moving the
top level logic from main.cpp into logic/idle_mode.cpp and a set of additional files to compile
in unit tests.
- 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
While motion queuing is safe, code that relies on the current block
needs to run with the isr disabled.
Protect AbortPlannedMoves and CurPosition from isr' interference by
using a RAII guard.
The principle has been implemented, but the TMC is not providing
the right data for some reason - homing doesn't work at all right now.
Also, after solving the physical homing, unit tests must be updated.
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)
This solves a number of issues - if FINDA or FSensor failed,
the unload was never "complete" - filament was stuck in the selector
blocking it from normal operation.
Now, after all errors have been resolved, filament is explicitly FED
into FINDA and then RETRACTED to Pulley.
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
vintagepc
D.R.racer
Yuri D'Elia