45 lines
1.2 KiB
C++
45 lines
1.2 KiB
C++
#pragma once
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#include <stdint.h>
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/// @brief Feed filament to FINDA
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///
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/// Continuously feed filament until FINDA is not switched ON
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/// and than retract to align filament 600 steps away from FINDA.
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namespace logic {
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struct FeedToFinda {
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enum {
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EngagingIdler,
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PushingFilament,
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UnloadBackToPTFE,
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DisengagingIdler,
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OK,
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Failed
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};
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inline FeedToFinda()
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: state(OK)
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, feedPhaseLimited(true) {}
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/// Restart the automaton
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/// @param feedPhaseLimited
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/// * true feed phase is limited, doesn't react on button press
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/// * false feed phase is unlimited, can be interrupted by any button press after blanking time
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void Reset(bool feedPhaseLimited);
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/// @returns true if the state machine finished its job, false otherwise
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bool Step();
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/// This method may be used to check the result of the automaton
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/// @returns OK if everything went OK and FINDA triggered (or the user pressed a button)
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/// @returns Failed if the FINDA didn't trigger
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inline uint8_t State() const { return state; }
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private:
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uint8_t state;
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bool feedPhaseLimited;
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};
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} // namespace logic
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