65 lines
2.2 KiB
C++
65 lines
2.2 KiB
C++
#include "unload_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/leds.h"
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#include "../modules/motion.h"
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#include "../modules/permanent_storage.h"
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namespace logic {
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void UnloadToFinda::Reset(uint8_t maxTries) {
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this->maxTries = maxTries;
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// check the inital state of FINDA and plan the moves
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if (!mf::finda.Pressed()) {
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state = OK; // FINDA is already off, we assume the fillament is not there, i.e. already unloaded
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} else {
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// FINDA is sensing the filament, plan moves to unload it
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state = EngagingIdler;
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mi::idler.Engage(mg::globals.ActiveSlot());
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}
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}
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bool UnloadToFinda::Step() {
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switch (state) {
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case EngagingIdler:
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if (mg::globals.FilamentLoaded() >= mg::FilamentLoadState::InSelector) {
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state = UnloadingToFinda;
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mm::motion.InitAxis(mm::Pulley);
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ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::blink0);
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} else {
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state = Failed;
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}
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return false;
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case UnloadingToFinda:
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if (mi::idler.Engaged()) {
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state = WaitingForFINDA;
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mg::globals.SetFilamentLoaded(mg::FilamentLoadState::InSelector);
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mm::motion.PlanMove<mm::Pulley>(-config::defaultBowdenLength - config::feedToFinda - config::filamentMinLoadedToMMU, config::pulleyFeedrate); // @@TODO constants
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}
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return false;
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case WaitingForFINDA:
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if (!mf::finda.Pressed()) {
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// detected end of filament
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state = OK;
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mm::motion.AbortPlannedMoves(); // stop rotating the pulley
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ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::off);
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} else if (/*tmc2130_read_gstat() &&*/ mm::motion.QueueEmpty()) {
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// we reached the end of move queue, but the FINDA didn't switch off
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// two possible causes - grinded filament or malfunctioning FINDA
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if (--maxTries) {
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Reset(maxTries); // try again
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} else {
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state = Failed;
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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 Failed:
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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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