246 lines
8.6 KiB
C++
246 lines
8.6 KiB
C++
#include "load_filament.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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#include "../modules/selector.h"
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#include "../modules/user_input.h"
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#include "../debug.h"
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namespace logic {
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LoadFilament loadFilament;
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void LoadFilament::Reset(uint8_t param) {
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if (!CheckToolIndex(param)) {
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return;
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}
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dbg_logic_P(PSTR("Load Filament"));
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state = ProgressCode::EngagingIdler;
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error = ErrorCode::RUNNING;
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mg::globals.SetActiveSlot(param);
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mi::idler.Engage(mg::globals.ActiveSlot());
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ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::blink0);
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ml::leds.SetMode(mg::globals.ActiveSlot(), ml::red, ml::off);
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}
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bool LoadFilament::StepInner() {
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switch (state) {
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case ProgressCode::EngagingIdler:
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if (mi::idler.Engaged()) {
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mm::motion.InitAxis(mm::Pulley);
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state = ProgressCode::FeedingToFinda;
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feed.Reset(true);
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}
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break;
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case ProgressCode::FeedingToFinda:
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if (feed.Step()) {
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if (feed.State() == FeedToFinda::Failed) {
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// @@TODO - try to repeat 6x - push/pull sequence - probably something to put into feed_to_finda as an option
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state = ProgressCode::ERRDisengagingIdler;
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error = ErrorCode::FINDA_DIDNT_SWITCH_ON;
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mi::idler.Disengage();
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ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::off);
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ml::leds.SetMode(mg::globals.ActiveSlot(), ml::red, ml::blink0); // signal loading error
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} else {
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state = ProgressCode::RetractingFromFinda;
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retract.Reset();
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}
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}
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break;
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case ProgressCode::RetractingFromFinda:
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if (retract.Step()) {
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if (retract.State() == RetractFromFinda::Failed) {
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state = ProgressCode::ERRDisengagingIdler;
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error = ErrorCode::FINDA_DIDNT_SWITCH_OFF;
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mi::idler.Disengage();
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ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::off);
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ml::leds.SetMode(mg::globals.ActiveSlot(), ml::red, ml::blink0); // signal loading error
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} else {
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state = ProgressCode::DisengagingIdler;
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mi::idler.Disengage();
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}
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}
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break;
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case ProgressCode::DisengagingIdler:
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if (!mi::idler.Engaged()) {
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state = ProgressCode::OK;
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error = ErrorCode::OK;
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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.Disable(mm::Pulley);
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mg::globals.SetFilamentLoaded(true);
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}
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break;
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case ProgressCode::OK:
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return true;
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case ProgressCode::ERRDisengagingIdler: // couldn't load to FINDA
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ErrDisengagingIdler();
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return false;
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case ProgressCode::ERRWaitingForUser: {
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// waiting for user buttons and/or a command from the printer
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mui::Event ev = mui::userInput.ConsumeEvent();
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switch (ev) {
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case mui::Event::Left: // try to manually load just a tiny bit - help the filament with the pulley
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state = ProgressCode::ERREngagingIdler;
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mi::idler.Engage(mg::globals.ActiveSlot());
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break;
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case mui::Event::Middle: // try again the whole sequence
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Reset(mg::globals.ActiveSlot());
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break;
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case mui::Event::Right: // problem resolved - the user pushed 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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break;
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default: // no event, continue waiting for user input
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break;
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}
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return false;
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}
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case ProgressCode::ERREngagingIdler:
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if (mi::idler.Engaged()) {
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state = ProgressCode::ERRHelpingFilament;
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mm::motion.PlanMove(mm::Pulley, 450, 5000); //@@TODO constants
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}
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return false;
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case ProgressCode::ERRHelpingFilament:
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if (mf::finda.Pressed()) {
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// the help was enough to press the FINDA, we are ok, continue normally
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state = ProgressCode::FeedingToBondtech;
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error = ErrorCode::RUNNING;
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} else if (mm::motion.QueueEmpty()) {
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// helped a bit, but FINDA didn't trigger, return to the main error state
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state = ProgressCode::ERRDisengagingIdler;
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}
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return false;
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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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//! @brief Load filament through bowden
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//! @param disengageIdler
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//! * true Disengage idler after movement
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//! * false Do not disengage idler after movement
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//void load_filament_withSensor(bool disengageIdler)
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//{
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// FilamentLoaded::set(active_extruder);
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// motion_engage_idler();
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// tmc2130_init_axis(AX_PUL, tmc2130_mode);
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// set_pulley_dir_push();
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// int _loadSteps = 0;
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// int _endstop_hit = 0;
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// // load filament until FINDA senses end of the filament, means correctly loaded into the selector
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// // we can expect something like 570 steps to get in sensor
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// do{
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// do_pulley_step();
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// _loadSteps++;
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// delayMicroseconds(5500);
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// } while (digitalRead(A1) == 0 && _loadSteps < 1500);
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// // filament did not arrive at FINDA, let's try to correct that
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// if (digitalRead(A1) == 0){
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// for (int i = 6; i > 0; i--){
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// if (digitalRead(A1) == 0){
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// // attempt to correct
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// set_pulley_dir_pull();
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// for (int i = 200; i >= 0; i--){
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// do_pulley_step();
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// delayMicroseconds(1500);
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// }
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// set_pulley_dir_push();
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// _loadSteps = 0;
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// do{
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// do_pulley_step();
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// _loadSteps++;
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// delayMicroseconds(4000);
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// if (digitalRead(A1) == 1) _endstop_hit++;
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// } while (_endstop_hit<100 && _loadSteps < 500);
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// }
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// }
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// }
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// // still not at FINDA, error on loading, let's wait for user input
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// if (digitalRead(A1) == 0){
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// bool _continue = false;
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// bool _isOk = false;
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// motion_disengage_idler();
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// do{
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// if (!_isOk){
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// signal_load_failure();
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// }else{
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// signal_ok_after_load_failure();
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// }
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// switch (buttonPressed()){
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// case Btn::left:
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// // just move filament little bit
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// motion_engage_idler();
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// set_pulley_dir_push();
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// for (int i = 0; i < 200; i++)
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// {
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// do_pulley_step();
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// delayMicroseconds(5500);
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// }
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// motion_disengage_idler();
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// break;
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// case Btn::middle:
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// // check if everything is ok
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// motion_engage_idler();
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// _isOk = checkOk();
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// motion_disengage_idler();
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// break;
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// case Btn::right:
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// // continue with loading
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// motion_engage_idler();
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// _isOk = checkOk();
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// motion_disengage_idler();
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// if (_isOk) //pridat do podminky flag ze od tiskarny prislo continue
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// {
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// _continue = true;
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// }
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// break;
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// default:
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// break;
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// }
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// } while ( !_continue );
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// motion_engage_idler();
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// set_pulley_dir_push();
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// _loadSteps = 0;
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// do
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// {
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// do_pulley_step();
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// _loadSteps++;
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// delayMicroseconds(5500);
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// } while (digitalRead(A1) == 0 && _loadSteps < 1500);
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// // ?
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// }
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// else
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// {
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// // nothing
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// }
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// motion_feed_to_bondtech();
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// tmc2130_disable_axis(AX_PUL, tmc2130_mode);
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// if (disengageIdler) motion_disengage_idler();
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// isFilamentLoaded = true; // filament loaded
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} // namespace logic
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