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.
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.
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)
- 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
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.
- 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
3d-gussner
Yuri D'Elia
Alan Dragomirecký