66 lines
2.6 KiB
C++
66 lines
2.6 KiB
C++
#include "feed_to_finda.h"
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#include "../modules/finda.h"
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#include "../modules/globals.h"
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#include "../modules/idler.h"
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#include "../modules/selector.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/user_input.h"
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namespace logic {
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void FeedToFinda::Reset(bool feedPhaseLimited) {
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state = EngagingIdler;
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this->feedPhaseLimited = feedPhaseLimited;
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mi::idler.Engage(mg::globals.ActiveSlot());
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// We can't get any FINDA readings if the selector is at the wrong spot - move it accordingly if necessary
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ms::selector.MoveToSlot(mg::globals.ActiveSlot());
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}
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bool FeedToFinda::Step() {
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switch (state) {
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case EngagingIdler:
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if (mi::idler.Engaged() && ms::selector.Slot() == mg::globals.ActiveSlot()) {
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state = PushingFilament;
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ml::leds.SetMode(mg::globals.ActiveSlot(), ml::Color::green, ml::blink0);
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mm::motion.PlanMove(mm::Pulley, feedPhaseLimited ? 1500 : 32767, 4000); //@@TODO constants
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mui::userInput.Clear(); // remove all buffered events if any just before we wait for some input
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}
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return false;
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case PushingFilament: {
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if (mf::finda.Pressed() || (feedPhaseLimited && mui::userInput.AnyEvent())) { // @@TODO probably also a command from the printer
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mm::motion.AbortPlannedMoves(); // stop pushing filament
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// FINDA triggered - that means it works and detected the filament tip
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state = UnloadBackToPTFE;
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mm::motion.PlanMove(mm::Pulley, -600, 4000); //@@TODO constants
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} else if (mm::motion.QueueEmpty()) { // all moves have been finished and FINDA didn't switch on
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state = Failed;
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// @@TODO - shall we disengage the idler?
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ml::leds.SetMode(mg::globals.ActiveSlot(), ml::Color::green, ml::off);
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ml::leds.SetMode(mg::globals.ActiveSlot(), ml::Color::red, ml::blink0);
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}
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}
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return false;
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case UnloadBackToPTFE:
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if (mm::motion.QueueEmpty()) { // all moves have been finished
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// state = DisengagingIdler;
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// mi::idler.Disengage();
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// }
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// return false;
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// case DisengagingIdler:
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// if (!mi::idler.Engaged()) {
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state = OK;
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// ml::leds.SetMode(mg::globals.ActiveSlot(), ml::Color::green, ml::on);
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}
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// @@TODO FINDA must be reported as OFF again as we are pulling the filament from it - is this correct?
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return false;
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case OK:
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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 logic
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