72 lines
1.5 KiB
C++
72 lines
1.5 KiB
C++
#include "idler.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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namespace modules {
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namespace idler {
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Idler idler;
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void Idler::PrepareMoveToPlannedSlot() {
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mm::motion.PlanMoveTo<mm::Idler>(SlotPosition(plannedSlot), mm::unitToAxisUnit<mm::I_speed_t>(config::idlerFeedrate));
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}
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Idler::OperationResult Idler::Disengage() {
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if (state == Moving)
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return OperationResult::Refused;
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plannedSlot = IdleSlotIndex();
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plannedEngage = false;
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if (!Engaged())
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return OperationResult::Accepted;
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return InitMovement(mm::Idler);
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}
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Idler::OperationResult Idler::Engage(uint8_t slot) {
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if (state == Moving)
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return OperationResult::Refused;
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plannedSlot = slot;
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plannedEngage = true;
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if (Engaged())
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return OperationResult::Accepted;
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return InitMovement(mm::Idler);
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}
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bool Idler::Home() {
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if (state == Moving)
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return false;
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plannedEngage = false;
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mm::motion.InitAxis(mm::Idler);
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mm::motion.Home(mm::Idler, false);
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return true;
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}
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bool Idler::Step() {
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switch (state) {
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case Moving:
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PerformMove(mm::Idler);
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return false;
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case Ready:
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currentlyEngaged = plannedEngage;
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currentSlot = plannedSlot;
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if (!Engaged()) // turn off power into the Idler motor when disengaged (no force necessary)
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mm::motion.Disable(mm::Idler);
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return true;
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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 idler
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} // namespace modules
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