126 lines
5.0 KiB
C++
126 lines
5.0 KiB
C++
#include "unload_filament.h"
|
|
#include "../modules/finda.h"
|
|
#include "../modules/globals.h"
|
|
#include "../modules/idler.h"
|
|
#include "../modules/leds.h"
|
|
#include "../modules/motion.h"
|
|
#include "../modules/permanent_storage.h"
|
|
#include "../modules/user_input.h"
|
|
|
|
namespace logic {
|
|
|
|
UnloadFilament unloadFilament;
|
|
|
|
namespace mm = modules::motion;
|
|
namespace mf = modules::finda;
|
|
namespace mi = modules::idler;
|
|
namespace ml = modules::leds;
|
|
namespace mg = modules::globals;
|
|
namespace mu = modules::user_input;
|
|
|
|
void UnloadFilament::Reset(uint8_t /*param*/) {
|
|
// unloads filament from extruder - filament is above Bondtech gears
|
|
mm::motion.InitAxis(mm::Pulley);
|
|
state = ProgressCode::UnloadingToFinda;
|
|
error = ErrorCode::OK;
|
|
unl.Reset(maxRetries);
|
|
ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::blink0);
|
|
ml::leds.SetMode(mg::globals.ActiveSlot(), ml::red, ml::off);
|
|
}
|
|
|
|
bool UnloadFilament::Step() {
|
|
switch (state) {
|
|
// state 1 engage idler - will be done by the Unload to FINDA state machine
|
|
case ProgressCode::UnloadingToFinda: // state 2 rotate pulley as long as the FINDA is on
|
|
if (unl.Step()) {
|
|
if (unl.State() == UnloadToFinda::Failed) {
|
|
// couldn't unload to FINDA, report error and wait for user to resolve it
|
|
state = ProgressCode::ERR1DisengagingIdler;
|
|
error = ErrorCode::FINDA_DIDNT_TRIGGER;
|
|
ml::leds.SetMode(mg::globals.ActiveSlot(), ml::red, ml::blink0);
|
|
ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::off);
|
|
} else {
|
|
state = ProgressCode::DisengagingIdler;
|
|
}
|
|
// in all cases disengage the idler
|
|
mi::idler.Disengage();
|
|
}
|
|
return false;
|
|
case ProgressCode::DisengagingIdler:
|
|
if (!mi::idler.Engaged()) {
|
|
state = ProgressCode::AvoidingGrind; // @@TODO what was this originally? Why are we supposed to move the pulley when the idler is not engaged?
|
|
// may be the pulley was to move along with the idler?
|
|
// mm::motion.PlanMove(mm::Pulley, -100, 10); // @@TODO constants
|
|
}
|
|
return false;
|
|
case ProgressCode::AvoidingGrind: // state 3 move a little bit so it is not a grinded hole in filament
|
|
if (mm::motion.QueueEmpty()) {
|
|
state = ProgressCode::FinishingMoves;
|
|
mi::idler.Disengage();
|
|
return true;
|
|
}
|
|
return false;
|
|
case ProgressCode::FinishingMoves:
|
|
if (mm::motion.QueueEmpty()) {
|
|
state = ProgressCode::OK;
|
|
mm::motion.Disable(mm::Pulley);
|
|
mg::globals.SetFilamentLoaded(false); // filament unloaded
|
|
ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::on);
|
|
}
|
|
return false;
|
|
case ProgressCode::ERR1DisengagingIdler: // couldn't unload to FINDA
|
|
if (!mi::idler.Engaged()) {
|
|
state = ProgressCode::ERR1WaitingForUser;
|
|
mu::userInput.Clear(); // remove all buffered events if any just before we wait for some input
|
|
}
|
|
return false;
|
|
case ProgressCode::ERR1WaitingForUser: {
|
|
// waiting for user buttons and/or a command from the printer
|
|
mu::Event ev = mu::userInput.ConsumeEvent();
|
|
switch (ev) {
|
|
case mu::Event::Left: // try to manually unload just a tiny bit - help the filament with the pulley
|
|
state = ProgressCode::ERR1EngagingIdler;
|
|
mi::idler.Engage(mg::globals.ActiveSlot());
|
|
break;
|
|
case mu::Event::Middle: // try again the whole sequence
|
|
Reset(0); //@@TODO validate the reset parameter
|
|
break;
|
|
case mu::Event::Right: // problem resolved - the user pulled the fillament by hand
|
|
ml::leds.SetMode(mg::globals.ActiveSlot(), ml::red, ml::off);
|
|
ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::on);
|
|
// mm::motion.PlanMove(mm::Pulley, 450, 5000); // @@TODO constants
|
|
state = ProgressCode::AvoidingGrind;
|
|
break;
|
|
default:
|
|
break;
|
|
}
|
|
return false;
|
|
}
|
|
case ProgressCode::ERR1EngagingIdler:
|
|
if (mi::idler.Engaged()) {
|
|
state = ProgressCode::ERR1HelpingFilament;
|
|
mm::motion.PlanMove(mm::Pulley, 450, 5000);
|
|
}
|
|
return false;
|
|
case ProgressCode::ERR1HelpingFilament:
|
|
if (!mf::finda.Pressed()) {
|
|
// the help was enough to depress the FINDA, we are ok, continue normally
|
|
state = ProgressCode::DisengagingIdler;
|
|
error = ErrorCode::OK;
|
|
} else if (mm::motion.QueueEmpty()) {
|
|
// helped a bit, but FINDA didn't trigger, return to the main error state
|
|
state = ProgressCode::ERR1DisengagingIdler;
|
|
}
|
|
return false;
|
|
case ProgressCode::OK:
|
|
return true; // successfully finished
|
|
default: // we got into an unhandled state, better report it
|
|
state = ProgressCode::ERRInternal;
|
|
error = ErrorCode::INTERNAL;
|
|
return true;
|
|
}
|
|
return false;
|
|
}
|
|
|
|
} // namespace logic
|