102 lines
3.9 KiB
C++
102 lines
3.9 KiB
C++
#include "unload_filament.h"
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#include "../modules/buttons.h"
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#include "../modules/finda.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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namespace logic {
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UnloadFilament unloadFilament;
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namespace mb = modules::buttons;
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namespace mm = modules::motion;
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namespace mi = modules::idler;
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namespace ml = modules::leds;
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namespace mg = modules::globals;
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void UnloadFilament::Reset(uint8_t param) {
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// unloads filament from extruder - filament is above Bondtech gears
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mm::motion.InitAxis(mm::Pulley);
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state = ProgressCode::UnloadingToFinda;
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error = ErrorCode::OK;
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unl.Reset(maxRetries);
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}
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bool UnloadFilament::Step() {
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switch (state) {
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// state 1 engage idler - will be done by the Unload to FINDA state machine
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case ProgressCode::UnloadingToFinda: // state 2 rotate pulley as long as the FINDA is on
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if (unl.Step()) {
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if (unl.State() == UnloadToFinda::Failed) {
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// couldn't unload to FINDA, report error and wait for user to resolve it
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state = ProgressCode::ERR1DisengagingIdler;
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ml::leds.SetMode(mg::globals.ActiveSlot(), ml::red, ml::blink0);
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} else {
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state = ProgressCode::DisengagingIdler;
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}
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// in all cases disengage the idler
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mi::idler.Disengage();
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}
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return false;
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case ProgressCode::DisengagingIdler:
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if (!mi::idler.Engaged()) {
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state = ProgressCode::AvoidingGrind; // @@TODO what was this originally? Why are we supposed to move the pulley when the idler is not engaged?
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// may be the pulley was to move along with the idler?
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// mm::motion.PlanMove(mm::Pulley, -100, 10); // @@TODO constants
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}
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return false;
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case ProgressCode::AvoidingGrind: // state 3 move a little bit so it is not a grinded hole in filament
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if (mm::motion.QueueEmpty()) {
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state = ProgressCode::FinishingMoves;
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mi::idler.Disengage();
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return true;
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}
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return false;
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case ProgressCode::FinishingMoves:
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if (mm::motion.QueueEmpty()) {
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state = ProgressCode::OK;
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mm::motion.DisableAxis(mm::Pulley);
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}
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return false;
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case ProgressCode::ERR1DisengagingIdler: // couldn't unload to FINDA
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error = ErrorCode::FINDA_DIDNT_TRIGGER;
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if (!mi::idler.Engaged()) {
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state = ProgressCode::ERR1WaitingForUser;
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}
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return false;
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case ProgressCode::ERR1WaitingForUser: {
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// waiting for user buttons and/or a command from the printer
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bool help = mb::buttons.ButtonPressed(mb::Left) /*|| command_help()*/;
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bool tryAgain = mb::buttons.ButtonPressed(mb::Middle) /*|| command_tryAgain()*/;
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bool userResolved = mb::buttons.ButtonPressed(mb::Right) /*|| command_userResolved()*/;
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if (help) {
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// try to manually unload just a tiny bit - help the filament with the pulley
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//@@TODO
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} else if (tryAgain) {
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// try again the whole sequence
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Reset(0);
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} else if (userResolved) {
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// problem resolved - the user pulled the fillament by hand
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ml::leds.SetMode(mg::globals.ActiveSlot(), ml::red, ml::off);
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ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::on);
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// mm::motion.PlanMove(mm::Pulley, 450, 5000); // @@TODO constants
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state = ProgressCode::AvoidingGrind;
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}
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return false;
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}
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case ProgressCode::OK:
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mg::globals.SetFilamentLoaded(false); // filament unloaded
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return true; // successfully finished
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default: // we got into an unhandled state, better report it
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state = ProgressCode::ERRInternal;
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error = ErrorCode::INTERNAL;
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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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