98 lines
3.9 KiB
C++
98 lines
3.9 KiB
C++
#include "unload_filament.h"
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#include "../modules/buttons.h"
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#include "../modules/finda.h"
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#include "../modules/leds.h"
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#include "../modules/motion.h"
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#include "../modules/idler.h"
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#include "../modules/permanent_storage.h"
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namespace logic {
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UnloadFilament unloadFilament;
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namespace mm = modules::motion;
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namespace mi = modules::idler;
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void UnloadFilament::Reset(uint8_t param) {
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// unloads filament from extruder - filament is above Bondtech gears
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mm::motion.InitAxis(mm::Pulley);
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state = ProgressCode::EngagingIdler;
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error = ErrorCode::OK;
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modules::idler::idler.Engage(0); //@@TODO
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}
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bool UnloadFilament::Step() {
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switch (state) {
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case ProgressCode::EngagingIdler: // state 1 engage idler
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if (mi::idler.Engaged()) { // if idler is in parked position un-park it get in contact with filament
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state = ProgressCode::UnloadingToFinda;
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unl.Reset();
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}
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return false;
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case ProgressCode::UnloadingToFinda: // state 2 rotate pulley as long as the FINDA is on
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if (unl.Step()) {
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if (unl.state == UnloadToFinda::Failed) {
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// couldn't unload to FINDA, report error and wait for user to resolve it
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state = ProgressCode::ERR1DisengagingIdler;
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// modules::leds::leds.SetMode(active_extruder, modules::leds::red, modules::leds::blink0);
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} else {
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state = ProgressCode::DisengagingIdler;
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}
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// in all cases disengage the idler
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mi::idler.Disengage();
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}
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return false;
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case ProgressCode::DisengagingIdler:
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if (!mi::idler.Engaged()) {
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state = ProgressCode::AvoidingGrind;
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// mm::motion.PlanMove(mm::Pulley, -100, 10); // @@TODO constants
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}
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return false;
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case ProgressCode::AvoidingGrind: // state 3 move a little bit so it is not a grinded hole in filament
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if (mm::motion.QueueEmpty()) {
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state = ProgressCode::FinishingMoves;
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mi::idler.Disengage();
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return true;
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}
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return false;
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case ProgressCode::FinishingMoves:
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if (mm::motion.QueueEmpty()) {
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state = ProgressCode::OK;
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mm::motion.DisableAxis(mm::Pulley);
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}
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return false;
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case ProgressCode::ERR1DisengagingIdler: // couldn't unload to FINDA
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error = ErrorCode::UNLOAD_FINDA_DIDNT_TRIGGER;
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if (!mi::idler.Engaged()) {
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state = ProgressCode::ERR1WaitingForUser;
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}
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return false;
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case ProgressCode::ERR1WaitingForUser: {
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// waiting for user buttons and/or a command from the printer
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bool help = modules::buttons::buttons.ButtonPressed(modules::buttons::Left) /*|| command_help()*/;
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bool tryAgain = modules::buttons::buttons.ButtonPressed(modules::buttons::Middle) /*|| command_tryAgain()*/;
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bool userResolved = modules::buttons::buttons.ButtonPressed(modules::buttons::Right) /*|| command_userResolved()*/;
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if (help) {
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// try to manually unload just a tiny bit - help the filament with the pulley
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//@@TODO
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} else if (tryAgain) {
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// try again the whole sequence
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Reset(0); // @@TODO param
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} else if (userResolved) {
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// problem resolved - the user pulled the fillament by hand
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// modules::leds::leds.SetMode(active_extruder, modules::leds::red, modules::leds::off);
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// modules::leds::leds.SetMode(active_extruder, modules::leds::green, modules::leds::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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}
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return false;
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}
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case ProgressCode::OK:
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// isFilamentLoaded = false; // filament unloaded
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return true; // successfully finished
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}
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return false;
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}
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} // namespace logic
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