68 lines
1.8 KiB
C++
68 lines
1.8 KiB
C++
#include "selector.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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#include "../debug.h"
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namespace modules {
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namespace selector {
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Selector selector;
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void Selector::PrepareMoveToPlannedSlot() {
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mm::motion.PlanMoveTo<mm::Selector>(SlotPosition(plannedSlot), mm::unitToAxisUnit<mm::S_speed_t>(config::selectorFeedrate));
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dbg_logic_sprintf_P(PSTR("Prepare Move Selector slot %d"), plannedSlot);
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}
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void Selector::PlanHomingMove() {
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mm::motion.PlanMove<mm::Selector>(mm::unitToAxisUnit<mm::S_pos_t>(config::selectorLimits.lenght * 2), mm::unitToAxisUnit<mm::S_speed_t>(config::selectorFeedrate));
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dbg_logic_P(PSTR("Plan Homing Selector"));
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}
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Selector::OperationResult Selector::MoveToSlot(uint8_t slot) {
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if (state == Moving) {
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dbg_logic_P(PSTR("Moving --> Selector refused"));
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return OperationResult::Refused;
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}
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plannedSlot = slot;
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if (currentSlot == slot) {
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dbg_logic_P(PSTR("Moving Selector"));
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return OperationResult::Accepted;
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}
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return InitMovement(mm::Selector);
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}
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bool Selector::Home() {
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if (state == Moving)
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return false;
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PlanHome(mm::Selector);
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return true;
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}
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bool Selector::Step() {
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switch (state) {
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case Moving:
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PerformMove(mm::Selector);
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//dbg_logic_P(PSTR("Moving Selector"));
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return false;
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case Homing:
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dbg_logic_P(PSTR("Homing Selector"));
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PerformHome(mm::Selector);
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return false;
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case Ready:
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//dbg_logic_P(PSTR("Selector Ready"));
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currentSlot = plannedSlot;
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mm::motion.Disable(mm::Selector); // turn off selector motor's power every time
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return true;
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case Failed:
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dbg_logic_P(PSTR("Selector 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 selector
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} // namespace modules
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