84 lines
3.3 KiB
C++
84 lines
3.3 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(config::fsensorToNozzle, config::pulleySlowFeedrate);
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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.CurrentPositionPulley_mm());
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state = PushingFilamentToFSensor;
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mpu::pulley.InitAxis();
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mpu::pulley.PlanMove(config::defaultBowdenLength, config::pulleyLoadFeedrate, config::pulleySlowFeedrate);
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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 = 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 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.Disengage();
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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 = DisengagingIdler;
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}
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return false;
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case DisengagingIdler:
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if (!mi::idler.Engaged()) {
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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.CurrentPositionPulley_mm());
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state = OK;
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mpu::pulley.Disable();
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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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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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