79 lines
2.2 KiB
C++
79 lines
2.2 KiB
C++
#include "eject_filament.h"
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#include "../modules/buttons.h"
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#include "../modules/finda.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/selector.h"
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namespace logic {
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EjectFilament ejectFilament;
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namespace mm = modules::motion;
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namespace mi = modules::idler;
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namespace ms = modules::selector;
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void EjectFilament::Reset(uint8_t param) {
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error = ErrorCode::OK;
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slot = param;
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bool isFilamentLoaded = true; //@@TODO
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if (isFilamentLoaded) {
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state = ProgressCode::UnloadingFilament;
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unl.Reset(param); //@@TODO probably act on active extruder only
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} else {
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MoveSelectorAside();
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}
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}
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void EjectFilament::MoveSelectorAside() {
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state = ProgressCode::ParkingSelector;
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const uint8_t selectorParkedPos = (slot <= 2) ? 4 : 0;
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mi::idler.Engage(slot);
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ms::selector.MoveToSlot(selectorParkedPos);
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}
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bool EjectFilament::Step() {
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constexpr const uint16_t eject_steps = 500; //@@TODO
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switch (state) {
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case ProgressCode::UnloadingFilament:
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if (unl.Step()) {
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// unloading sequence finished
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switch (unl.Error()) {
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case ErrorCode::OK: // finished successfully
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case ErrorCode::UNLOAD_ERROR2: // @@TODO what shall we do in case of this error?
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case ErrorCode::FINDA_DIDNT_TRIGGER:
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break;
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}
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}
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break;
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case ProgressCode::ParkingSelector:
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if (mm::motion.QueueEmpty()) { // selector parked aside
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state = ProgressCode::EjectingFilament;
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mm::motion.InitAxis(mm::Pulley);
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mm::motion.PlanMove(eject_steps, 0, 0, 1500, 0, 0);
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}
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break;
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case ProgressCode::EjectingFilament:
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if (mm::motion.QueueEmpty()) { // filament ejected
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state = ProgressCode::DisengagingIdler;
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mi::idler.Disengage();
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}
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break;
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case ProgressCode::DisengagingIdler:
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if (mm::motion.QueueEmpty()) { // idler disengaged
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mm::motion.DisableAxis(mm::Pulley);
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state = ProgressCode::OK;
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}
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break;
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case ProgressCode::OK:
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return true;
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}
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return false;
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}
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} // namespace logic
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