110 lines
4.6 KiB
C++
110 lines
4.6 KiB
C++
/// @file feed_to_bondtech.cpp
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#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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#include "../modules/pulley.h"
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#include "../debug.h"
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namespace logic {
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void FeedToBondtech::Reset(uint8_t maxRetries) {
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dbg_logic_P(PSTR("\nFeed to Bondtech\n\n"));
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state = EngagingIdler;
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this->maxRetries = maxRetries;
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ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::blink0);
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mi::idler.Engage(mg::globals.ActiveSlot());
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}
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void logic::FeedToBondtech::GoToPushToNozzle() {
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mg::globals.SetFilamentLoaded(mg::globals.ActiveSlot(), mg::FilamentLoadState::InFSensor);
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// plan a slow move to help push filament into the nozzle
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//@@TODO the speed in mm/s must correspond to printer's feeding speed!
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mpu::pulley.PlanMove(
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config::U_mm({ (long double)mg::globals.FSensorToNozzleMM() }),
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config::U_mm_s({ (long double)mg::globals.FSensorToNozzleFeedrate() }));
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state = PushingFilamentIntoNozzle;
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}
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bool FeedToBondtech::Step() {
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switch (state) {
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case EngagingIdler:
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if (mi::idler.Engaged()) {
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dbg_logic_P(PSTR("Feed to Bondtech --> Idler engaged"));
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dbg_logic_fP(PSTR("Pulley start steps %u"), mpu::pulley.CurrentPosition_mm());
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state = PushingFilamentFast;
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mpu::pulley.InitAxis();
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// plan a fast move while in the safe minimal length
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mpu::pulley.PlanMove(config::minimumBowdenLength, config::pulleyLoadFeedrate, config::pulleySlowFeedrate);
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// plan additional slow move while waiting for fsensor to trigger
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mpu::pulley.PlanMove(config::maximumBowdenLength - config::minimumBowdenLength, config::pulleySlowFeedrate, config::pulleySlowFeedrate);
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}
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return false;
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case PushingFilamentFast:
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if (mfs::fsensor.Pressed()) {
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// Safety precaution - if the fsensor triggers while pushing the filament fast, we must stop pushing immediately
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// With a correctly set-up MMU this shouldn't happen
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mm::motion.AbortPlannedMoves(); // stop pushing filament
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state = FSensorTooEarly;
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} else if (mm::motion.PlannedMoves(mm::Pulley) == 1) {
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// a bit of a hack - the fast (already planned) move has finished, doing the slow part
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// -> just switch to FeedingToFSensor
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state = PushingFilamentToFSensor;
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}
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return false;
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case PushingFilamentToFSensor:
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//dbg_logic_P(PSTR("Feed to Bondtech --> Pushing"));
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if (mfs::fsensor.Pressed()) {
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mm::motion.AbortPlannedMoves(); // stop pushing filament
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GoToPushToNozzle();
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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 = PulleyStalled;
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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 PushingFilamentIntoNozzle:
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if (mm::motion.QueueEmpty()) {
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mg::globals.SetFilamentLoaded(mg::globals.ActiveSlot(), mg::FilamentLoadState::InNozzle);
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mi::idler.PartiallyDisengage(mg::globals.ActiveSlot());
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// while disengaging the idler, keep on moving with the pulley to avoid grinding while the printer is trying to grab the filament itself
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mpu::pulley.PlanMove(config::fsensorToNozzleAvoidGrind, config::pulleySlowFeedrate);
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state = PartiallyDisengagingIdler;
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}
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return false;
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case PartiallyDisengagingIdler:
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if (mi::idler.PartiallyDisengaged()) {
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mm::motion.AbortPlannedMoves(mm::Pulley);
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mpu::pulley.Disable();
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mi::idler.Disengage(); // disengage fully while Pulley is already stopped
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state = DisengagingIdler;
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}
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return false;
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case DisengagingIdler:
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if (mi::idler.Disengaged()) {
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dbg_logic_P(PSTR("Feed to Bondtech --> Idler disengaged"));
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dbg_logic_fP(PSTR("Pulley end steps %u"), mpu::pulley.CurrentPosition_mm());
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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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dbg_logic_P(PSTR("Feed to Bondtech OK"));
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return true;
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case Failed:
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case FSensorTooEarly:
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// case PulleyStalled:
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dbg_logic_P(PSTR("Feed to Bondtech FAILED"));
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return true;
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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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