89 lines
4.2 KiB
C++
89 lines
4.2 KiB
C++
/// @file unload_to_finda.cpp
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#include "unload_to_finda.h"
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#include "../modules/finda.h"
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#include "../modules/fsensor.h"
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#include "../modules/globals.h"
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#include "../modules/idler.h"
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#include "../modules/leds.h"
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#include "../modules/motion.h"
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#include "../modules/permanent_storage.h"
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#include "../modules/pulley.h"
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namespace logic {
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void UnloadToFinda::Reset(uint8_t maxTries) {
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this->maxTries = maxTries;
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// check the inital state of FINDA and plan the moves
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if (!mf::finda.Pressed()) {
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state = OK; // FINDA is already off, we assume the fillament is not there, i.e. already unloaded
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} else {
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// FINDA is sensing the filament, plan moves to unload it
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state = EngagingIdler;
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mi::idler.Engage(mg::globals.ActiveSlot());
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}
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}
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bool UnloadToFinda::Step() {
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switch (state) {
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// start by engaging the idler into intermediate position
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// Then, wait for !fsensor.Pressed: that's to speed-up the pull process - unload operation will be started during the purging moves
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// and as soon as the fsensor turns off, the MMU engages the idler fully and starts pulling.
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// It will not wait for the extruder to finish the relieve move.
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// However, such an approach breaks running the MMU on a non-reworked MK4/C1, which hasn't been officially supported, but possible (with some level of uncertainity).
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case EngagingIdler:
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if (mg::globals.FilamentLoaded() >= mg::FilamentLoadState::InSelector) {
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state = UnloadingToFinda;
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mpu::pulley.InitAxis();
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ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::blink0);
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} else {
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state = FailedFINDA;
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}
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return false;
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case UnloadingToFinda:
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if (mi::idler.Engaged()) {
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state = WaitingForFINDA;
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mg::globals.SetFilamentLoaded(mg::globals.ActiveSlot(), mg::FilamentLoadState::InSelector);
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unloadStart_mm = mpu::pulley.CurrentPosition_mm();
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// We can always plan the unload move for the maximum allowed bowden length,
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// it should be even more reliable than doing just the specified bowden length:
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// - if the filament is slipping for some reason, planning a longer move will not stop in the middle of the bowden tube
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// - a faster unload (shorter than the specified bowden length) will be interrupted by FINDA turning off
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// - if FINDA is misaligned or faulty, the only issue will be, that the filament will be thrown behind the pulley
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// which could have happened with the previous implementation as well, because default bowden length was set to 42cm
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mpu::pulley.PlanMove(-config::maximumBowdenLength - config::feedToFinda - config::filamentMinLoadedToMMU, mg::globals.PulleyUnloadFeedrate_mm_s());
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}
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return false;
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case WaitingForFINDA: {
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int32_t currentPulley_mm = mpu::pulley.CurrentPosition_mm();
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if ((abs(unloadStart_mm - currentPulley_mm) > mm::truncatedUnit(mg::globals.FSensorUnloadCheck_mm())) && mfs::fsensor.Pressed()) {
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// fsensor didn't trigger within the first fsensorUnloadCheckDistance mm -> stop pulling, something failed, report an error
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// This scenario should not be tried again - repeating it may cause more damage to filament + potentially more collateral damage
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state = FailedFSensor;
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mm::motion.AbortPlannedMoves(); // stop rotating the pulley
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ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::off);
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} else if (!mf::finda.Pressed()) {
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// detected end of filament
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state = OK;
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mm::motion.AbortPlannedMoves(); // stop rotating the pulley
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ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::off);
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} else if (/*tmc2130_read_gstat() &&*/ mm::motion.QueueEmpty()) {
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// we reached the end of move queue, but the FINDA didn't switch off
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// two possible causes - grinded filament or malfunctioning FINDA
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if (--maxTries) {
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Reset(maxTries); // try again
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} else {
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state = FailedFINDA;
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}
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}
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}
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return false;
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case OK:
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case FailedFINDA:
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case FailedFSensor:
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default:
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return true;
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}
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}
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} // namespace logic
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