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
I hate when the compiler doesn't check something what it normally does:
`pgm_read_byte` is more than happy with a parameter (*str), which reads
an address at a location where *str points to - which is obviously not the intent.
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
kudos to @leptun for this original and actually a very clean idea.
For the start we report "Reset finished" which in fact corresponds with the MMU state pretty closely
and plays nicely even with the protocol implementation.
And, since the default startup command is the noCommand, which always returns "Finished"
the implementation is clean and straightforward - the response to the first Q0 messages
will look like "X0 F" until a command (T, L, U ...) has been issued.
My MM-control-board v0.3 has following ADC readings in DEBUG_BUTTONS
- none = 1023
- left = 169
- mid = 91-92
- right = 0
As the comparison was larger than 0 MY MMU2 right button wasn't detected.
This introduces a new #define UNITTEST_MOTION which is used to control
the testing scenario:
- Normal tests, we allow the stub to override the built-in definition.
- For motion tests, we stub the lower-level classes and test the
effective implementation
We also repeat the prototype of the function, which IMHO is more
readable and more flexible: we need to use inline for the real
definition, which would require even more macros otherwise.
That implies changing motor's mode from SpreadCycle into StealtMode (or vice versa)
requires a stand still MMU with no other command (i.e. motor moves) being performed.
This elegantly solves the synchronization problem of TMC2130 mode change, as it results
in severe jerking while a motor is moving.
The change in protocol is minimal - M0/M1 first return `M0 A` (accepted) and another `Q0` then
returns `M0 F` (finished). The MK4 counterpart may ignore the additional report if necessary
as the mode change is done immediately (shortly after responding with `M0 A`)
Motion::SetMode(axis, mode) was incorrectly looping through all axes,
setting the same axis three times.
Fix this and introduce Motion::SetMode(mode) which actually loops
through all axes (see PR #110)
If the queue is full and a new move is queued, panic!
Introduce a new error code QUEUE_FULL to help diagnose situations where
the queue is handled improperly: likely one of the state machines not
waiting for the previous actions to finish.
PulseGen::PlanMove returns a boolean if the queue cannot be moved.
We could extend this to Motion::PlanMove, however all moves would then
have to check for this. Having a global check such as this ensures
we never ignore such situation.
we shall think about the Pulley as well, it looks like it should get its
own class just like Idler and Selector as it behaves very similarly in terms
of stepping and error checking
3d-gussner
D.R.racer
Alex Voinea
Yuri D'Elia