60 lines
1.2 KiB
C++
60 lines
1.2 KiB
C++
#include "idler.h"
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#include "buttons.h"
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#include "leds.h"
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#include "motion.h"
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#include "permanent_storage.h"
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namespace modules {
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namespace idler {
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namespace mm = modules::motion;
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bool Idler::Disengage() {
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if (state == Moving)
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return false;
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plannedEngage = false;
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// plan move to idle position
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// mm::motion.PlanMove(0, idle_position, 0, 1000, 0, 0); // @@TODO
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state = Moving;
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return true;
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}
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bool Idler::Engage(uint8_t slot) {
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if (state == Moving)
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return false;
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plannedSlot = slot;
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plannedEngage = true;
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// mm::motion.PlanMove(0, slotPositions[slot], 0, 1000, 0, 0); // @@TODO
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state = Moving;
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return true;
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}
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bool Idler::Home() {
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if (state == Moving)
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return false;
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plannedEngage = false;
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mm::motion.Home(mm::Idler, false);
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return true;
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}
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bool Idler::Step() {
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switch (state) {
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case Moving:
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if (mm::motion.QueueEmpty()) {
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// move finished
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state = Ready;
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}
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return false;
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case Ready:
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currentlyEngaged = plannedEngage;
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currentSlot = plannedSlot;
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return true;
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case Failed:
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default:
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return true;
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}
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}
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} // namespace idler
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} // namespace modules
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