99 lines
4.9 KiB
C++
99 lines
4.9 KiB
C++
/// @file feed_to_finda.cpp
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#include "feed_to_finda.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/selector.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 "../modules/user_input.h"
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#include "../debug.h"
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namespace logic {
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bool FeedToFinda::Reset(bool feedPhaseLimited, bool haltAtEnd) {
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dbg_logic_P(PSTR("\nFeed to FINDA\n\n"));
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state = EngagingIdler;
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this->feedPhaseLimited = feedPhaseLimited;
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this->haltAtEnd = haltAtEnd;
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ml::leds.SetPairButOffOthers(mg::globals.ActiveSlot(), ml::blink0, ml::off);
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mi::idler.Engage(mg::globals.ActiveSlot());
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// We can't get any FINDA readings if the selector is at the wrong spot - move it accordingly if necessary
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return ms::selector.MoveToSlot(mg::globals.ActiveSlot()) == ms::Selector::OperationResult::Accepted;
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}
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bool FeedToFinda::Step() {
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switch (state) {
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case EngagingIdler:
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// A serious deadlock may occur at this spot in case of flickering FINDA.
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// Therefore FeedToFinda::Reset returns false in case of Selector refusing to move.
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// We don't have to check the FINDA state while the move is in progress.
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if (mi::idler.Engaged() && ms::selector.Slot() == mg::globals.ActiveSlot()) {
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dbg_logic_P(PSTR("Feed to Finda --> Idler engaged"));
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dbg_logic_fP(PSTR("Pulley start steps %u"), mpu::pulley.CurrentPosition_mm());
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mpu::pulley.InitAxis();
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// @@TODO this may never happen as load filament always assumes the filament is at least at the pulley
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// if (mg::globals.FilamentLoaded() == mg::FilamentLoadState::NotLoaded) { // feed slowly filament to PTFE
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// mpu::pulley.PlanMove(config::filamentMinLoadedToMMU, config::pulleySlowFeedrate);
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// }
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mpu::pulley.PlanMove(config::maximumFeedToFinda, config::pulleySlowFeedrate);
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if (feedPhaseLimited) {
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state = PushingFilament;
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} else {
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state = PushingFilamentUnlimited;
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// in unlimited move we plan 2 moves at once to make the move "seamless"
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// one move has already been planned above, this is the second one
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mpu::pulley.PlanMove(config::maximumFeedToFinda, config::pulleySlowFeedrate);
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}
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mg::globals.SetFilamentLoaded(mg::globals.ActiveSlot(), mg::FilamentLoadState::InSelector);
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mui::userInput.Clear(); // remove all buffered events if any just before we wait for some input
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}
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return false;
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case PushingFilament: {
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if (mf::finda.Pressed()) {
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mm::motion.AbortPlannedMoves(haltAtEnd); // stop pushing filament
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// FINDA triggered - that means it works and detected the filament tip
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mg::globals.SetFilamentLoaded(mg::globals.ActiveSlot(), mg::FilamentLoadState::InSelector);
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dbg_logic_P(PSTR("Feed to Finda --> 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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return true; // return immediately to allow for a seamless planning of another move (like feeding to bondtech)
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} else if (mm::motion.QueueEmpty()) { // all moves have been finished and FINDA didn't switch on
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state = Failed;
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ml::leds.SetPairButOffOthers(mg::globals.ActiveSlot(), ml::off, ml::blink0);
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}
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}
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return false;
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case PushingFilamentUnlimited: {
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// FINDA triggered or the user pressed a button -> stop move, consider the operation as finished ok
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if (mf::finda.Pressed() || mui::userInput.AnyEvent()) {
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mm::motion.AbortPlannedMoves(haltAtEnd); // stop pushing filament
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// FINDA triggered - that means it works and detected the filament tip
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mg::globals.SetFilamentLoaded(mg::globals.ActiveSlot(), mg::FilamentLoadState::InSelector);
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dbg_logic_P(PSTR("Feed to Finda --> Idler disengaged"));
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dbg_logic_fP(PSTR("Pulley end steps %u"), mpu::pulley.CurrentPosition_mm());
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state = mui::userInput.AnyEvent() ? Stopped : OK;
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mui::userInput.Clear();
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return true; // return immediately to allow for a seamless planning of another move (like feeding to bondtech)
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} else if (mm::motion.PlannedMoves(mm::Pulley) < 2) {
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// plan another move to make the illusion of unlimited moves
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mpu::pulley.PlanMove(config::maximumFeedToFinda, config::pulleySlowFeedrate);
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}
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}
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return false;
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case OK:
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case Stopped:
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dbg_logic_P(PSTR("Feed to FINDA OK"));
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return true;
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case Failed:
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dbg_logic_P(PSTR("Feed to FINDA 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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