82 lines
2.8 KiB
C++
82 lines
2.8 KiB
C++
#include "feed_to_bondtech.h"
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#include "../modules/buttons.h"
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#include "../modules/fsensor.h"
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#include "../modules/globals.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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#ifdef DEBUG_LOGIC
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#include "../hal/usart.h"
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#include <string.h>
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#include <stdio.h>
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#endif //DEBUG_LOGIC
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namespace logic {
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void FeedToBondtech::Reset(uint8_t maxRetries) {
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#ifdef DEBUG_LOGIC
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hu::usart1.puts("\nFeed to Bondtech\n\n");
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#endif //DEBUG_LOGIC
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state = EngagingIdler;
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this->maxRetries = maxRetries;
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ml::leds.SetMode(mg::globals.ActiveSlot(), ml::Color::green, ml::Mode::blink0);
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mi::idler.Engage(mg::globals.ActiveSlot());
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}
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bool FeedToBondtech::Step() {
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const uint16_t steps = mps::BowdenLength::get();
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switch (state) {
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case EngagingIdler:
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if (mi::idler.Engaged()) {
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#ifdef DEBUG_LOGIC
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uint16_t startSteps = mm::motion.CurPosition(mm::Pulley);
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char str[30];
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sprintf_P(str, PSTR("\nPulley start steps %u\n\n"), startSteps);
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hu::usart1.puts(str);
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#endif //DEBUG_LOGIC
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state = PushingFilament;
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mm::motion.PlanMove<mm::Pulley>(config::DefaultBowdenLength, config::pulleyFeedrate); //@@TODO constants - there was some strange acceleration sequence in the original FW,
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// we can probably hand over some array of constants for hand-tuned acceleration + leverage some smoothing in the stepper as well
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}
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return false;
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case PushingFilament:
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#ifdef DEBUG_LOGIC
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hu::usart1.puts("\nFeed to Bondtech --> Pushing\n\n");
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#endif //DEBUG_LOGIC
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if (mfs::fsensor.Pressed()) {
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mm::motion.AbortPlannedMoves(); // stop pushing filament
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mi::idler.Disengage();
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state = DisengagingIdler;
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} else if (mm::motion.StallGuard(mm::Pulley)) {
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// stall guard occurred during movement - the filament got stuck
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state = Failed; // @@TODO may be even report why it failed
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} else if (mm::motion.QueueEmpty()) { // all moves have been finished and the fsensor didn't switch on
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state = Failed;
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}
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return false;
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case DisengagingIdler:
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#ifdef DEBUG_LOGIC
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hu::usart1.puts("\nFeed to Bondtech --> DisengagingIdler\n\n");
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#endif //DEBUG_LOGIC
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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::green, ml::on);
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}
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return false;
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case OK:
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#ifdef DEBUG_LOGIC
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hu::usart1.puts("\nFeed to Bondtech\n\n");
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#endif //DEBUG_LOGIC
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case Failed:
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#ifdef DEBUG_LOGIC
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hu::usart1.puts("\nFeed to Bondtech FAILED\n\n");
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#endif //DEBUG_LOGIC
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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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