49 lines
1.7 KiB
C++
49 lines
1.7 KiB
C++
/// @file eject_filament.h
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#pragma once
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#include <stdint.h>
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#include "command_base.h"
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#include "unload_filament.h"
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#include "../modules/axisunit.h"
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namespace logic {
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// These cannot be class memebers without definition until c++17
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static constexpr modules::motion::P_pos_t ejectLength = 50.0_P_mm; //@@TODO
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static constexpr modules::motion::P_speed_t ejectSpeed = 1000.0_P_mm_s; //@@TODO
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/// @brief A high-level command state machine - handles the complex logic of ejecting filament
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///
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/// The eject operation consists of:
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/// - Move selector sideways and push filament forward a little bit, so that the user can catch it
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/// - Unpark idler at the end so that the user can pull filament out.
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/// - If there is still some filament detected by PINDA unload it first.
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/// - If we want to eject fil 0-2, move selector to position 4 (right).
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/// - If we want to eject fil 3-4, move selector to position 0 (left)
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/// Optionally, we can also move the selector to its service position in the future.
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class EjectFilament : public CommandBase {
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public:
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inline EjectFilament()
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: CommandBase() {}
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/// Restart the automaton
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/// @param param index of filament slot to eject
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void Reset(uint8_t param) override;
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/// @returns true if the state machine finished its job, false otherwise
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bool StepInner() override;
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ProgressCode State() const override;
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ErrorCode Error() const override;
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private:
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UnloadFilament unl; ///< a high-level command/operation may be used as a building block of other operations as well
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uint8_t slot;
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void MoveSelectorAside();
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};
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/// The one and only instance of EjectFilament state machine in the FW
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extern EjectFilament ejectFilament;
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} // namespace logic
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