57 lines
1.9 KiB
C++
57 lines
1.9 KiB
C++
/// @file feed_to_finda.h
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#pragma once
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#include <stdint.h>
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namespace logic {
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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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/// Leaves the Idler engaged for chaining potential next operations.
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/// Leaves the Pulley axis enabled for chaining potential next operations
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struct FeedToFinda {
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/// internal states of the state machine
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enum {
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EngagingIdler,
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PushingFilament,
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PushingFilamentUnlimited,
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UnloadBackToPTFE,
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DisengagingIdler,
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OK,
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Failed,
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Stopped
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};
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inline constexpr FeedToFinda()
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: state(OK)
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, feedPhaseLimited(true)
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, haltAtEnd(0) {}
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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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/// Beware: the function returns immediately without actually doing anything if the FINDA is "pressed", i.e. the filament is already at the FINDA
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/// @param haltAtEnd true if the Pulley's motion shall be brought into a halt (which is what LoadFilament wants, but not ToolChange)
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/// @returns
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/// * true if the operation has been successfully started.
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/// * false if the selector refused to move to the desired spot (which can be caused by pressed FINDA)
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bool Reset(bool feedPhaseLimited, bool haltAtEnd);
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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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bool haltAtEnd;
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};
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} // namespace logic
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