Merge remote-tracking branch 'origin/MMU-MK3-FSensorBuild-Patch1' into MMU-MK3-FSensorBuild-Patch1
This commit is contained in:
Rob McKenzie
commit
6584dfe872
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@ -0,0 +1,612 @@
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//! @file
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#include "main.h"
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#include <Arduino.h>
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#include <stdio.h>
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#include <string.h>
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#include <avr/io.h>
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#include "shr16.h"
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#include "adc.h"
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#include "uart.h"
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#include "spi.h"
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#include "tmc2130.h"
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#include "abtn3.h"
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#include "mmctl.h"
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#include "motion.h"
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#include "Buttons.h"
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#include <avr/wdt.h>
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#include "permanent_storage.h"
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// public variables:
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int8_t sys_state = 0;
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uint8_t sys_signals = 0;
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bool fsensor_triggered = false;
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bool unloadatBoot = false;
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bool mmuFSensorLoading = false;
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bool duplicateTCmd = false;
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bool fixedTheProblem = false;
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bool fixTheProblems = false;
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bool load_filament_at_toolChange = false;
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uint8_t tmc2130_mode = NORMAL_MODE; // STEALTH_MODE;
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static char echo[32];
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#if (UART_COM == 0)
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FILE *uart_com = uart0io;
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#elif (UART_COM == 1)
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FILE *uart_com = uart1io;
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#endif //(UART_COM == 0)
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extern "C" void process_commands(FILE *inout);
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//! @brief Initialization after reset
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//!
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//! button | action
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//! ------ | ------
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//! middle | enter setup
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//! right | continue after error
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//!
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//! LED indication of states
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//!
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//! RG | RG | RG | RG | RG | meaning
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//! -- | -- | -- | -- | -- | ------------------------
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//! 00 | 00 | 00 | 00 | 0b | Shift register initialized
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//! 00 | 00 | 00 | 0b | 00 | uart initialized
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//! 00 | 00 | 0b | 00 | 00 | spi initialized
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//! 00 | 0b | 00 | 00 | 00 | tmc2130 initialized
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//! 0b | 00 | 00 | 00 | 00 | A/D converter initialized
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//! b0 | b0 | b0 | b0 | b0 | Error, filament detected, still present
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//! 0b | 0b | 0b | 0b | 0b | Error, filament detected, no longer present, continue by right button click
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//!
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//! @n R - Red LED
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//! @n G - Green LED
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//! @n 1 - active
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//! @n 0 - inactive
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//! @n b - blinking
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void setup()
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{
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shr16_init(); // shift register
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led_blink(0);
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delay(1000); // wait for boot ok printer
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uart0_init(); //uart0
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uart1_init(); //uart1
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led_blink(1);
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#if (UART_STD == 0)
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stdin = uart0io; // stdin = uart0
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stdout = uart0io; // stdout = uart0
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#elif(UART_STD == 1)
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stdin = uart1io; // stdin = uart1
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stdout = uart1io; // stdout = uart1
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#endif //(UART_STD == 1)
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bool requestMenu = false;
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fprintf_P(uart_com, PSTR("start\n")); //startup message
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spi_init();
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led_blink(2);
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tmc2130_init(HOMING_MODE); // trinamic, homing
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led_blink(3);
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adc_init(); // ADC
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led_blink(4);
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init_Pulley();
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if (buttonClicked() == Btn::middle) {
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requestMenu = true;
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}
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// if FINDA is sensing filament do not home
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while (digitalRead(A1) == 1) {
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while (Btn::right != buttonClicked()) {
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if (digitalRead(A1) == 1) {
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shr16_set_led(0x2aa);
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} else {
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shr16_set_led(0x155);
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}
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delay(300);
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shr16_set_led(0x000);
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delay(300);
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}
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}
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home();
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// TODO 2: add reading previously stored mode (stealth/normal) from eeprom
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tmc2130_init(tmc2130_mode); // trinamic, initialize all axes
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// check if to goto the settings menu
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if (requestMenu) {
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setupMenu();
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}
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}
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//! @brief Select filament menu
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//!
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//! Select filament by pushing left and right button, park position can be also selected.
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//!
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//! button | action
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//! ------ | ------
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//! left | select previous filament
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//! right | select next filament
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//!
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//! LED indication of states
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//!
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//! RG | RG | RG | RG | RG | meaning
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//! -- | -- | -- | -- | -- | ------------------------
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//! 01 | 00 | 00 | 00 | 00 | filament 1
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//! 00 | 01 | 00 | 00 | 00 | filament 2
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//! 00 | 00 | 01 | 00 | 00 | filament 3
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//! 00 | 00 | 00 | 01 | 00 | filament 4
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//! 00 | 00 | 00 | 00 | 01 | filament 5
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//! 00 | 00 | 00 | 00 | bb | park position
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//!
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//! @n R - Red LED
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//! @n G - Green LED
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//! @n 1 - active
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//! @n 0 - inactive
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//! @n b - blinking
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void manual_extruder_selector()
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{
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shr16_set_led(1 << 2 * (4 - active_extruder));
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#ifdef TESTING_STEALTH
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if (buttonClicked() != Btn::none) {
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switch (buttonClicked()) {
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case Btn::right:
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if (active_extruder < EXTRUDERS) {
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select_extruder(active_extruder + 1);
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}
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break;
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case Btn::left:
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if (active_extruder > 0) {
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select_extruder(active_extruder - 1);
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}
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break;
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default:
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break;
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}
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}
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#else
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if ((Btn::left | Btn::right) & buttonClicked()) {
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switch (buttonClicked()) {
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case Btn::right:
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if (active_extruder < EXTRUDERS) {
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select_extruder(active_extruder + 1);
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}
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break;
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case Btn::left:
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if (active_extruder > 0) {
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select_extruder(active_extruder - 1);
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}
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break;
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default:
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break;
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}
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}
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#endif
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if (active_extruder == 5) {
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shr16_set_led(2 << 2 * 0);
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delay(50);
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shr16_set_led(1 << 2 * 0);
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delay(50);
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}
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}
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//! @brief main loop
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//!
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//! It is possible to manually select filament and feed it when not printing.
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//!
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//! button | action
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//! ------ | ------
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//! middle | feed filament
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//!
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//! @copydoc manual_extruder_selector()
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void loop()
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{
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process_commands(uart_com);
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if (!isPrinting) {
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manual_extruder_selector();
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#ifndef TESTING_STEALTH
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if (Btn::middle == buttonClicked() && active_extruder < 5) {
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shr16_set_led(2 << 2 * (4 - active_extruder));
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if (Btn::middle == buttonClicked()) {
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feed_filament();
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}
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}
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}
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#endif
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}
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extern "C" {
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void process_commands(FILE *inout)
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{
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static char line[32];
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static int count = 0;
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int c = -1;
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if (count < 32) {
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if ((c = getc(inout)) >= 0) {
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if (c == '\r') {
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c = 0;
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}
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if (c == '\n') {
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c = 0;
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}
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line[count++] = c;
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}
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} else {
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count = 0;
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//overflow
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}
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int value = 0;
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int value0 = 0;
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if (fixTheProblems == true) {
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fprintf_P(inout, PSTR("not_ok\n"));
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count = 0;
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} else if (fixedTheProblem == true) {
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fixTheProblems = false;
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fixedTheProblem = false;
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fprintf_P(inout, PSTR("ok\n"));
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count = 0;
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}
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if ((count > 0) && (c == 0)) {
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//line received
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//printf_P(PSTR("line received: '%s' %d\n"), line, count);
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if (strstr(line, "EE") != NULL) {
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for (int i = 0; i < 32; i++) {
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line[i] = echo[i];
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}
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count = 0;
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} else if (strstr(line, "P0") == NULL) {
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for (int i = 0; i < 32; i++) {
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echo[i] = line[i];
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}
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count = 0;
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//delay(10); // delay so MK3 comms is not floaded
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if (strstr(line, "T0") != NULL) {
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fprintf_P(inout, PSTR("T0\n"));
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return;
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}
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if (strstr(line, "T1") != NULL) {
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fprintf_P(inout, PSTR("T1\n"));
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return;
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}
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if (strstr(line, "T2") != NULL) {
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fprintf_P(inout, PSTR("T2\n"));
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return;
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}
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if (strstr(line, "T3") != NULL) {
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fprintf_P(inout, PSTR("T3\n"));
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return;
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}
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if (strstr(line, "T4") != NULL) {
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fprintf_P(inout, PSTR("T4\n"));
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return;
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}
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if (strstr(line, "L0") != NULL) {
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fprintf_P(inout, PSTR("L0\n"));
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return;
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}
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if (strstr(line, "L1") != NULL) {
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fprintf_P(inout, PSTR("L1\n"));
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return;
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}
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if (strstr(line, "L2") != NULL) {
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fprintf_P(inout, PSTR("L2\n"));
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return;
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}
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if (strstr(line, "L3") != NULL) {
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fprintf_P(inout, PSTR("L3\n"));
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return;
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}
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if (strstr(line, "L4") != NULL) {
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fprintf_P(inout, PSTR("L4\n"));
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return;
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}
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if (strstr(line, "C0") != NULL) {
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fprintf_P(inout, PSTR("C0\n"));
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return;
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}
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if (strstr(line, "U0") != NULL) {
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fprintf_P(inout, PSTR("U0\n"));
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return;
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}
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if (strstr(line, "E0") != NULL) {
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fprintf_P(inout, PSTR("E0\n"));
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return;
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}
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if (strstr(line, "E1") != NULL) {
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fprintf_P(inout, PSTR("E1\n"));
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return;
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}
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if (strstr(line, "E2") != NULL) {
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fprintf_P(inout, PSTR("E2\n"));
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return;
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}
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if (strstr(line, "E3") != NULL) {
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fprintf_P(inout, PSTR("E3\n"));
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return;
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}
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if (strstr(line, "E4") != NULL) {
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fprintf_P(inout, PSTR("E4\n"));
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return;
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}
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if (strstr(line, "R0") != NULL) {
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fprintf_P(inout, PSTR("R0\n"));
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return;
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}
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if (strstr(line, "FS") != NULL) {
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fprintf_P(inout, PSTR("FS\n"));
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return;
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}
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if (strstr(line, "FL") != NULL) {
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fprintf_P(inout, PSTR("FS\n"));
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return;
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}
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}
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count = 0;
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if (sscanf_P(line, PSTR("T%d"), &value) > 0) {
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//T-code scanned
|
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if ((value >= 0) && (value < EXTRUDERS)) {
|
||||
if ((active_extruder == value) & (isFilamentLoaded)) {
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duplicateTCmd = true;
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fprintf_P(inout, PSTR("ok\n"));
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} else {
|
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mmuFSensorLoading = true;
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duplicateTCmd = false;
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toolChange(value);
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fprintf_P(inout, PSTR("FL\n"));
|
||||
if (load_filament_at_toolChange){
|
||||
load_filament_withSensor();
|
||||
load_filament_at_toolChange = false;
|
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}
|
||||
}
|
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}
|
||||
} else if (sscanf_P(line, PSTR("L%d"), &value) > 0) {
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// Load filament
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if ((value >= 0) && (value < EXTRUDERS) && !isFilamentLoaded) {
|
||||
|
||||
select_extruder(value);
|
||||
delay(10);
|
||||
feed_filament();
|
||||
delay(100);
|
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fprintf_P(inout, PSTR("ok\n"));
|
||||
}
|
||||
} else if (sscanf_P(line, PSTR("M%d"), &value) > 0) {
|
||||
// M0: set to normal mode; M1: set to stealth mode
|
||||
switch (value) {
|
||||
case 0:
|
||||
tmc2130_mode = NORMAL_MODE;
|
||||
break;
|
||||
case 1:
|
||||
tmc2130_mode = STEALTH_MODE;
|
||||
break;
|
||||
default:
|
||||
return;
|
||||
}
|
||||
//init all axes
|
||||
tmc2130_init(tmc2130_mode);
|
||||
fprintf_P(inout, PSTR("ok\n"));
|
||||
} else if (sscanf_P(line, PSTR("U%d"), &value) > 0) { // Unload filament
|
||||
unload_filament_withSensor();
|
||||
delay(200);
|
||||
fprintf_P(inout, PSTR("ok\n"));
|
||||
isPrinting = false;
|
||||
trackToolChanges = 0;
|
||||
} else if (sscanf_P(line, PSTR("X%d"), &value) > 0) {
|
||||
if (value == 0) { // MMU reset
|
||||
wdt_enable(WDTO_15MS);
|
||||
}
|
||||
} else if (sscanf_P(line, PSTR("P%d"), &value) > 0) {
|
||||
if (value == 0) { // Read finda
|
||||
fprintf_P(inout, PSTR("%dok\n"), digitalRead(A1));
|
||||
}
|
||||
} else if (sscanf_P(line, PSTR("S%d"), &value) > 0) {
|
||||
if (value == 0) { // return ok
|
||||
fprintf_P(inout, PSTR("ok\n"));
|
||||
} else if (value == 1) { // Read version
|
||||
fprintf_P(inout, PSTR("%dok\n"), FW_VERSION);
|
||||
} else if (value == 2) { // Read build nr
|
||||
fprintf_P(inout, PSTR("%dok\n"), FW_BUILDNR);
|
||||
}
|
||||
} else if (strstr(line, "FS") > 0) {
|
||||
fsensor_triggered = true;
|
||||
fprintf_P(inout, PSTR("ok\n"));
|
||||
} else if (sscanf_P(line, PSTR("F%d %d"), &value, &value0) > 0) {
|
||||
if (((value >= 0) && (value < EXTRUDERS)) && ((value0 >= 0) && (value0 <= 2))) {
|
||||
filament_type[value] = value0;
|
||||
fprintf_P(inout, PSTR("ok\n"));
|
||||
}
|
||||
} else if (sscanf_P(line, PSTR("C%d"), &value) > 0) {
|
||||
if (value == 0) // C0 continue loading current filament (used after T-code), maybe add different code for
|
||||
// each extruder (the same way as T-codes) in the future?
|
||||
{
|
||||
if (!duplicateTCmd) {
|
||||
load_filament_into_extruder();
|
||||
fprintf_P(inout, PSTR("ok\n"));
|
||||
} else fprintf_P(inout, PSTR("ok\n"));
|
||||
}
|
||||
} else if (sscanf_P(line, PSTR("E%d"), &value) > 0) {
|
||||
if ((value >= 0) && (value < EXTRUDERS)) { // Ex: eject filament
|
||||
eject_filament(value);
|
||||
fprintf_P(inout, PSTR("ok\n"));
|
||||
}
|
||||
} else if (sscanf_P(line, PSTR("R%d"), &value) > 0) {
|
||||
if (value == 0) { // R0: recover after eject filament
|
||||
recover_after_eject();
|
||||
fprintf_P(inout, PSTR("ok\n"));
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
} // extern C
|
||||
|
||||
void process_signals()
|
||||
{
|
||||
// what to do here?
|
||||
}
|
||||
|
||||
void fault_handler(Fault id)
|
||||
{
|
||||
while (1) {
|
||||
shr16_set_led(id + 1);
|
||||
delay(1000);
|
||||
shr16_set_led(0);
|
||||
delay(2000);
|
||||
}
|
||||
}
|
||||
|
||||
//****************************************************************************************************
|
||||
//* this routine is the common routine called for fixing the filament issues (loading or unloading)
|
||||
//****************************************************************************************************
|
||||
void fixTheProblem(void) {
|
||||
fixedTheProblem = false;
|
||||
fixTheProblems = true;
|
||||
engage_filament_pulley(false); // park the idler stepper motor
|
||||
delay(50);
|
||||
tmc2130_disable_axis(AX_SEL, tmc2130_mode);
|
||||
|
||||
while (!(Btn::middle == buttonClicked() && digitalRead(A1) == 1)) {
|
||||
// wait until key is entered to proceed (this is to allow for operator intervention)
|
||||
/*if (Btn::middle == buttonClicked() && digitalRead(A1) == 0) {
|
||||
break;
|
||||
}*/
|
||||
delay(100);
|
||||
shr16_set_led(0x000);
|
||||
delay(100);
|
||||
if (digitalRead(A1) == 1) {
|
||||
shr16_set_led(2 << 2 * (4 - active_extruder));
|
||||
} else {
|
||||
shr16_set_led(1 << 2 * (4 - active_extruder));
|
||||
}
|
||||
process_commands(uart_com);
|
||||
}
|
||||
|
||||
tmc2130_init_axis(AX_SEL, tmc2130_mode); // turn ON the selector stepper motor
|
||||
|
||||
homeSelectorSmooth();
|
||||
reset_positions(AX_SEL, 0, active_extruder, ACC_NORMAL);
|
||||
isFilamentLoaded = false;
|
||||
delay(10); // wait for 10 millisecond
|
||||
fixedTheProblem = true;
|
||||
}
|
||||
|
||||
bool load_filament_withSensor()
|
||||
{
|
||||
loop:
|
||||
{
|
||||
engage_filament_pulley(true); // if idler is in parked position un-park him get in contact with filament
|
||||
tmc2130_init_axis(AX_PUL, tmc2130_mode);
|
||||
uint8_t current_loading_normal[3] = CURRENT_LOADING_NORMAL;
|
||||
uint8_t current_loading_stealth[3] = CURRENT_LOADING_STEALTH;
|
||||
uint8_t current_running_normal[3] = CURRENT_RUNNING_NORMAL;
|
||||
uint8_t current_running_stealth[3] = CURRENT_RUNNING_STEALTH;
|
||||
uint8_t current_holding_normal[3] = CURRENT_HOLDING_NORMAL;
|
||||
uint8_t current_holding_stealth[3] = CURRENT_HOLDING_STEALTH;
|
||||
unsigned long startTime, currentTime;
|
||||
bool tag = false;
|
||||
|
||||
// load filament until FINDA senses end of the filament, means correctly loaded into the selector
|
||||
// we can expect something like 570 steps to get in sensor
|
||||
|
||||
if (tmc2130_mode == NORMAL_MODE) {
|
||||
tmc2130_init_axis_current_normal(AX_PUL, current_holding_normal[AX_PUL],
|
||||
current_loading_normal[AX_PUL]);
|
||||
} else {
|
||||
tmc2130_init_axis_current_normal(AX_PUL, current_holding_stealth[AX_PUL],
|
||||
current_loading_stealth[AX_PUL]);
|
||||
}
|
||||
|
||||
if (moveSmooth(AX_PUL, 2500, 650, false, false, ACC_NORMAL, true) == MR_Success) {
|
||||
if (tmc2130_mode == NORMAL_MODE) {
|
||||
tmc2130_init_axis_current_normal(AX_PUL, current_holding_normal[AX_PUL],
|
||||
current_running_normal[AX_PUL]);
|
||||
} else {
|
||||
tmc2130_init_axis_current_normal(AX_PUL, current_holding_stealth[AX_PUL],
|
||||
current_running_stealth[AX_PUL]);
|
||||
}
|
||||
moveSmooth(AX_PUL, 8500, MAX_SPEED_PUL, false, false, ACC_FEED_NORMAL);
|
||||
|
||||
startTime = millis();
|
||||
fsensor_triggered = false;
|
||||
process_commands(uart_com);
|
||||
|
||||
while (tag == false) {
|
||||
currentTime = millis();
|
||||
if ((currentTime - startTime) > 12000) {
|
||||
fixTheProblem();
|
||||
goto loop;
|
||||
}
|
||||
|
||||
move_pulley(2,MAX_SPEED_PUL);
|
||||
process_commands(uart_com);
|
||||
if (fsensor_triggered == true) tag = true;
|
||||
delayMicroseconds(500); ///RMM:TODO changed to 300 from 600us on 3 Nov 18
|
||||
}
|
||||
|
||||
mmuFSensorLoading = false;
|
||||
fsensor_triggered = false;
|
||||
//delayMicroseconds(600);
|
||||
moveSmooth(AX_PUL, STEPS_MK3FSensor_To_Bondtech, 350,false, false);
|
||||
isFilamentLoaded = true; // filament loaded
|
||||
shr16_set_led(0x000);
|
||||
shr16_set_led(2 << 2 * (4 - active_extruder));
|
||||
return true;
|
||||
}
|
||||
fixTheProblem();
|
||||
goto loop;
|
||||
shr16_set_led(0x000);
|
||||
shr16_set_led(2 << 2 * (4 - active_extruder));
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief unload_filament_withSensor
|
||||
* unloads filament from extruder - filament is above Bondtech gears
|
||||
*/
|
||||
bool unload_filament_withSensor()
|
||||
{
|
||||
bool _return = false;
|
||||
tmc2130_init_axis(AX_PUL, tmc2130_mode);
|
||||
tmc2130_init_axis(AX_IDL, tmc2130_mode);
|
||||
|
||||
engage_filament_pulley(true); // if idler is in parked position un-park him get in contact with filament
|
||||
|
||||
moveSmooth(AX_PUL, -400, 350, false, false);
|
||||
switch (moveSmooth(AX_PUL, -12000, MAX_SPEED_PUL - (MAX_SPEED_PUL/5), false, false, ACC_FEED_NORMAL, true)) {
|
||||
case MR_Success:
|
||||
moveSmooth(AX_PUL, -50, 650, false, false, ACC_NORMAL);
|
||||
moveSmooth(AX_PUL, 600, 650, false, false, ACC_NORMAL, true);
|
||||
moveSmooth(AX_PUL, -600, 650, false, false, ACC_NORMAL);
|
||||
if (digitalRead(A1) == 1) {
|
||||
fixTheProblem();
|
||||
return;
|
||||
}
|
||||
isFilamentLoaded = false; // filament unloaded
|
||||
_return = true;
|
||||
break;
|
||||
default:
|
||||
fixTheProblem();
|
||||
}
|
||||
tmc2130_disable_axis(AX_PUL, tmc2130_mode);
|
||||
engage_filament_pulley(false);
|
||||
return _return;
|
||||
}
|
||||
|
|
@ -0,0 +1,41 @@
|
|||
#ifndef _MAIN_H
|
||||
#define _MAIN_H
|
||||
|
||||
#include <inttypes.h>
|
||||
#include "config.h"
|
||||
#include "uart.h"
|
||||
|
||||
void manual_extruder_selector();
|
||||
|
||||
// system state
|
||||
extern int8_t sys_state;
|
||||
|
||||
// signals from interrupt to main loop
|
||||
extern uint8_t sys_signals;
|
||||
extern bool load_filament_at_toolChange;
|
||||
void process_signals();
|
||||
bool load_filament_withSensor();
|
||||
bool unload_filament_withSensor();
|
||||
void fixTheProblem();
|
||||
|
||||
extern uint8_t tmc2130_mode;
|
||||
extern bool fsensor_triggered;
|
||||
|
||||
// get state of signal (main loop or interrupt)
|
||||
#define SIG_GET(id) (sys_signals & (1 << id))
|
||||
// set state of signal (interrupt only)
|
||||
#define SIG_SET(id) (sys_signals |= (1 << id))
|
||||
// get state of signal (main loop only)
|
||||
#define SIG_CLR(id) \
|
||||
asm("cli"); \
|
||||
sys_signals &= ~(1 << id); \
|
||||
asm("sei")
|
||||
|
||||
typedef enum eFault {FAULT_IDLER_INIT_0, FAULT_IDLER_INIT_1, FAULT_IDLER_INIT_2,
|
||||
FAULT_SELECTOR_INIT_0, FAULT_SELECTOR_INIT_1, FAULT_SELECTOR_INIT_2,
|
||||
FAULT_PULLEY_INIT_0, FAULT_PULLEY_INIT_1, FAULT_PULLEY_INIT_2,
|
||||
} Fault;
|
||||
|
||||
void fault_handler(Fault id);
|
||||
|
||||
#endif //_MAIN_H
|
||||
|
|
@ -0,0 +1,186 @@
|
|||
// mmctl.cpp - multimaterial switcher control
|
||||
#include "main.h"
|
||||
#include <Arduino.h>
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include <avr/io.h>
|
||||
#include "shr16.h"
|
||||
#include "spi.h"
|
||||
#include "tmc2130.h"
|
||||
#include "mmctl.h"
|
||||
#include "motion.h"
|
||||
#include "Buttons.h"
|
||||
|
||||
// public variables:
|
||||
int active_extruder = -1; // extruder channel, 0...4
|
||||
int previous_extruder = -1;
|
||||
bool isFilamentLoaded = false;
|
||||
bool isIdlerParked = false;
|
||||
bool isPrinting = false;
|
||||
bool isHomed = false;
|
||||
|
||||
// private variables:
|
||||
static int toolChanges = 0;
|
||||
int trackToolChanges = 0;
|
||||
|
||||
bool feed_filament()
|
||||
{
|
||||
bool _loaded = false;
|
||||
|
||||
uint8_t current_loading_normal[3] = CURRENT_LOADING_NORMAL;
|
||||
uint8_t current_loading_stealth[3] = CURRENT_LOADING_STEALTH;
|
||||
uint8_t current_running_normal[3] = CURRENT_RUNNING_NORMAL;
|
||||
uint8_t current_running_stealth[3] = CURRENT_RUNNING_STEALTH;
|
||||
uint8_t current_holding_normal[3] = CURRENT_HOLDING_NORMAL;
|
||||
uint8_t current_holding_stealth[3] = CURRENT_HOLDING_STEALTH;
|
||||
|
||||
|
||||
int _c = 0;
|
||||
engage_filament_pulley(true);
|
||||
while (!_loaded) {
|
||||
if (tmc2130_mode == NORMAL_MODE) {
|
||||
tmc2130_init_axis_current_normal(AX_PUL, current_holding_normal[AX_PUL],
|
||||
current_loading_normal[AX_PUL]);
|
||||
} else {
|
||||
tmc2130_init_axis_current_normal(AX_PUL, current_holding_stealth[AX_PUL],
|
||||
current_loading_stealth[AX_PUL]);
|
||||
}
|
||||
|
||||
if (moveSmooth(AX_PUL, 4000, 650, false, true, ACC_NORMAL, true) == MR_Success) {
|
||||
if (tmc2130_mode == NORMAL_MODE) {
|
||||
tmc2130_init_axis_current_normal(AX_PUL, current_holding_normal[AX_PUL],
|
||||
current_running_normal[AX_PUL]);
|
||||
} else {
|
||||
tmc2130_init_axis_current_normal(AX_PUL, current_holding_stealth[AX_PUL],
|
||||
current_running_stealth[AX_PUL]);
|
||||
}
|
||||
moveSmooth(AX_PUL, -600, 650, false, false, ACC_NORMAL);
|
||||
shr16_set_led(1 << 2 * (4 - active_extruder));
|
||||
_loaded = true;
|
||||
break;
|
||||
} else {
|
||||
if (_c < 2) fixTheProblem();
|
||||
else break;
|
||||
_c++;
|
||||
}
|
||||
}
|
||||
tmc2130_disable_axis(AX_PUL, tmc2130_mode);
|
||||
engage_filament_pulley(false);
|
||||
return _loaded;
|
||||
}
|
||||
|
||||
bool toolChange(int new_extruder)
|
||||
{
|
||||
bool _return = false;
|
||||
isPrinting = true;
|
||||
|
||||
if (active_extruder == 5) {
|
||||
active_extruder = 4;
|
||||
move_selector(-700); // service position
|
||||
}
|
||||
|
||||
shr16_set_led(2 << 2 * (4 - active_extruder));
|
||||
|
||||
previous_extruder = active_extruder;
|
||||
active_extruder = new_extruder;
|
||||
|
||||
if (previous_extruder == active_extruder) {
|
||||
if (!isFilamentLoaded) {
|
||||
shr16_set_led(2 << 2 * (4 - active_extruder));
|
||||
load_filament_withSensor(); // just load filament if not loaded
|
||||
_return = true;
|
||||
} else {
|
||||
_return = true; // nothing really happened
|
||||
}
|
||||
} else {
|
||||
if (isFilamentLoaded) {
|
||||
unload_filament_withSensor(); //failed unload. unload filament first
|
||||
}
|
||||
if (!isFilamentLoaded) {
|
||||
if (trackToolChanges == TOOLSYNC) {
|
||||
home(true);
|
||||
set_positions(0, active_extruder); // move idler and selector to new filament position
|
||||
delay(50);
|
||||
engage_filament_pulley(true);
|
||||
} else {
|
||||
set_positions(previous_extruder, active_extruder); // move idler and selector to new filament position
|
||||
}
|
||||
toolChanges++;
|
||||
trackToolChanges ++;
|
||||
shr16_set_led(2 << 2 * (4 - active_extruder));
|
||||
//load_filament_withSensor();
|
||||
load_filament_at_toolChange = true;
|
||||
_return = true;
|
||||
}
|
||||
}
|
||||
|
||||
shr16_set_led(0x000);
|
||||
shr16_set_led(2 << 2 * (4 - active_extruder));
|
||||
return _return;
|
||||
}
|
||||
|
||||
//! @brief select extruder
|
||||
//!
|
||||
//! Known limitation is, that if extruder 5 - service position was selected before
|
||||
//! it is not possible to select any other extruder than extruder 4.
|
||||
//!
|
||||
//! @param new_extruder Extruder to be selected
|
||||
//! @return
|
||||
bool select_extruder(int new_extruder)
|
||||
{
|
||||
if (digitalRead(A1) == 1) return false;
|
||||
|
||||
int previous_extruder = active_extruder;
|
||||
active_extruder = new_extruder;
|
||||
|
||||
bool _return = false;
|
||||
if (!isHomed) {
|
||||
home();
|
||||
}
|
||||
|
||||
shr16_set_led(2 << 2 * (4 - active_extruder));
|
||||
|
||||
if (previous_extruder == active_extruder) {
|
||||
if (!isFilamentLoaded) {
|
||||
_return = true;
|
||||
}
|
||||
} else {
|
||||
if (new_extruder == EXTRUDERS) {
|
||||
move_selector(700); // move to service position
|
||||
} else {
|
||||
if (previous_extruder == EXTRUDERS) {
|
||||
move_selector(-700); // move back from service position
|
||||
} else {
|
||||
set_positions(previous_extruder,
|
||||
active_extruder); // move idler and selector to new filament position
|
||||
engage_filament_pulley(false);
|
||||
}
|
||||
}
|
||||
_return = true;
|
||||
}
|
||||
|
||||
|
||||
shr16_set_led(0x000);
|
||||
shr16_set_led(1 << 2 * (4 - active_extruder));
|
||||
return _return;
|
||||
}
|
||||
|
||||
bool service_position()
|
||||
{
|
||||
// TODO 2: fixme, when abs-coords are implemented
|
||||
move_selector(600); // TODO 1: check if 600 is ok!
|
||||
return true;
|
||||
}
|
||||
|
||||
void led_blink(int _no)
|
||||
{
|
||||
shr16_set_led(1 << 2 * _no);
|
||||
delay(40);
|
||||
shr16_set_led(0x000);
|
||||
delay(20);
|
||||
shr16_set_led(1 << 2 * _no);
|
||||
delay(40);
|
||||
|
||||
shr16_set_led(0x000);
|
||||
delay(10);
|
||||
}
|
||||
|
|
@ -0,0 +1,539 @@
|
|||
#include "motion.h"
|
||||
#include "shr16.h"
|
||||
#include "tmc2130.h"
|
||||
#include <avr/io.h>
|
||||
#include <avr/pgmspace.h>
|
||||
#include <stdio.h>
|
||||
#include <Arduino.h>
|
||||
#include "main.h"
|
||||
#include "uart.h"
|
||||
#include "mmctl.h"
|
||||
#include "Buttons.h"
|
||||
#include "permanent_storage.h"
|
||||
#include "config.h"
|
||||
|
||||
// public variables:
|
||||
int8_t filament_type[EXTRUDERS] = { -1, -1, -1, -1, -1};
|
||||
|
||||
// private constants:
|
||||
// selector homes on the right end. afterwards it is moved to extruder 0
|
||||
static const int SELECTOR_STEPS_AFTER_HOMING = -3700;
|
||||
static const int IDLER_STEPS_AFTER_HOMING = -138;
|
||||
|
||||
static const int IDLER_FULL_TRAVEL_STEPS = 1420; // 16th micro steps
|
||||
// after homing: 1420 into negative direction
|
||||
// and 130 steps into positive direction
|
||||
|
||||
static const int SELECTOR_STEPS = 2800 / (EXTRUDERS - 1);
|
||||
static const int IDLER_STEPS = 1420 / (EXTRUDERS - 1); // full travel = 1420 16th micro steps
|
||||
const int IDLER_PARKING_STEPS = (IDLER_STEPS / 2) + 40; //
|
||||
|
||||
static const int BOWDEN_LENGTH = 1000;
|
||||
const int STEPS_MK3FSensor_To_Bondtech = 360;
|
||||
|
||||
static const int EJECT_PULLEY_STEPS = 2500;
|
||||
|
||||
// private variables:
|
||||
|
||||
static int selector_steps_for_eject = 0;
|
||||
|
||||
static int idler_steps_for_eject = 0;
|
||||
|
||||
// private functions:
|
||||
static int set_idler_direction(int steps);
|
||||
static int set_selector_direction(int steps);
|
||||
static int set_pulley_direction(int steps);
|
||||
|
||||
void set_positions(int _current_extruder, int _next_extruder)
|
||||
{
|
||||
// steps to move to new position of idler and selector
|
||||
int _idler_steps = (_current_extruder - _next_extruder) * IDLER_STEPS;
|
||||
|
||||
move_idler(_idler_steps); // remove this, when abs coordinates are implemented!
|
||||
|
||||
if (_next_extruder > 0) {
|
||||
int _selector_steps = ((_current_extruder - _next_extruder) * SELECTOR_STEPS) * -1;
|
||||
move_selector(_selector_steps);
|
||||
} else {
|
||||
moveSmooth(AX_SEL, 100, 2000, false);
|
||||
for (int c = 2; c > 0; c--) { // touch end 2 times
|
||||
moveSmooth(AX_SEL, -4000, 2000, false);
|
||||
if (c > 1) {
|
||||
moveSmooth(AX_SEL, 100, 2000, false);
|
||||
}
|
||||
}
|
||||
moveSmooth(AX_SEL, 33, 2000, false);
|
||||
}
|
||||
}
|
||||
|
||||
bool reset_positions(uint8_t axis, int _current_extruder_pos, int _new_extruder_pos, float acc)
|
||||
{
|
||||
// steps to move axis to new position of idler and selector independantly
|
||||
int steps = 0;
|
||||
bool _return = false;
|
||||
|
||||
if (axis == AX_SEL) {
|
||||
|
||||
if (digitalRead(A1) == 1) {
|
||||
isFilamentLoaded = true;
|
||||
return false;
|
||||
}
|
||||
int new_AX_SEL = -1;
|
||||
int cur_AX_SEL = -1;
|
||||
if (_new_extruder_pos == EXTRUDERS) {
|
||||
int new_AX_SEL = EXTRUDERS - 1;
|
||||
steps = (((_current_extruder_pos - new_AX_SEL) * SELECTOR_STEPS) * -1) + 700; // amount to service position
|
||||
} else {
|
||||
if (_current_extruder_pos == EXTRUDERS) {
|
||||
int cur_AX_SEL = EXTRUDERS - 1;
|
||||
steps = (((cur_AX_SEL - _new_extruder_pos) * SELECTOR_STEPS) * -1)-700; // Return from service position
|
||||
} else {
|
||||
steps = ((_current_extruder_pos - _new_extruder_pos) * SELECTOR_STEPS) * -1;
|
||||
}
|
||||
}
|
||||
if (moveSmooth(AX_SEL, steps, MAX_SPEED_SEL, true, true, acc) == MR_Success) _return = true;
|
||||
} else if (axis == AX_IDL) {
|
||||
int new_AX_IDL = -1;
|
||||
if (_new_extruder_pos == EXTRUDERS) {
|
||||
new_AX_IDL = EXTRUDERS - 1;
|
||||
} else new_AX_IDL = _new_extruder_pos;
|
||||
steps = ((_current_extruder_pos - new_AX_IDL) * IDLER_STEPS);
|
||||
isIdlerParked = false;
|
||||
if (moveSmooth(AX_IDL, steps, MAX_SPEED_IDL, true, true, acc) == MR_Success) _return = true;
|
||||
delay(50);
|
||||
engage_filament_pulley(false);
|
||||
}
|
||||
isFilamentLoaded = false;
|
||||
return _return;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Eject Filament
|
||||
* move selector sideways and push filament forward little bit, so user can catch it,
|
||||
* unpark idler at the end to user can pull filament out
|
||||
* @param extruder: extruder channel (0..4)
|
||||
*/
|
||||
void eject_filament(int extruder)
|
||||
{
|
||||
int selector_position = 0;
|
||||
|
||||
int8_t selector_offset_for_eject = 0;
|
||||
int8_t idler_offset_for_eject = 0;
|
||||
|
||||
// if there is still filament detected by PINDA unload it first
|
||||
if (isFilamentLoaded) {
|
||||
unload_filament_withSensor();
|
||||
}
|
||||
|
||||
|
||||
engage_filament_pulley(true);
|
||||
tmc2130_init_axis(AX_PUL, tmc2130_mode);
|
||||
|
||||
|
||||
// if we are want to eject fil 0-2, move seelctor to position 4 (right), if we want to eject filament 3 - 4, move
|
||||
// selector to position 0 (left)
|
||||
// maybe we can also move selector to service position in the future?
|
||||
if (extruder <= 2) {
|
||||
selector_position = 4;
|
||||
} else {
|
||||
selector_position = 0;
|
||||
}
|
||||
|
||||
// count offset (number of positions) for desired selector and idler position for ejecting
|
||||
selector_offset_for_eject = active_extruder - selector_position;
|
||||
idler_offset_for_eject = active_extruder - extruder;
|
||||
|
||||
// count number of desired steps for selector and idler and store it in static variable
|
||||
selector_steps_for_eject = (selector_offset_for_eject * SELECTOR_STEPS) * -1;
|
||||
idler_steps_for_eject = idler_offset_for_eject * IDLER_STEPS;
|
||||
|
||||
// move selector and idler to new position
|
||||
move_idler(idler_steps_for_eject); // remove this, with when abs coordinates are implemented!
|
||||
move_selector(selector_steps_for_eject);
|
||||
|
||||
// push filament forward
|
||||
move_pulley(EJECT_PULLEY_STEPS, 666);
|
||||
|
||||
// unpark idler so user can easily remove filament
|
||||
engage_filament_pulley(false);
|
||||
tmc2130_disable_axis(AX_PUL, tmc2130_mode);
|
||||
}
|
||||
|
||||
void recover_after_eject()
|
||||
{
|
||||
// restore state before eject filament
|
||||
tmc2130_init_axis(AX_PUL, tmc2130_mode);
|
||||
|
||||
|
||||
// pull back filament
|
||||
engage_filament_pulley(true);
|
||||
move_pulley(-EJECT_PULLEY_STEPS);
|
||||
engage_filament_pulley(false);
|
||||
|
||||
move_idler(-idler_steps_for_eject); // TODO 1: remove this, when abs coordinates are implemented!
|
||||
move_selector(-selector_steps_for_eject);
|
||||
|
||||
tmc2130_disable_axis(AX_PUL, tmc2130_mode);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief load_filament_intoExtruder
|
||||
* loads filament after confirmed by printer into the Bontech
|
||||
* pulley gears so they can grab them.
|
||||
* We reduce here stepwise the motor current, to prevent grinding into the
|
||||
* filament as good as possible.
|
||||
*
|
||||
* TODO 1: this procedure is most important for high reliability.
|
||||
* The speed must be set accordingly to the settings in the slicer
|
||||
*/
|
||||
void load_filament_into_extruder()
|
||||
{
|
||||
uint8_t current_running_normal[3] = CURRENT_RUNNING_NORMAL;
|
||||
uint8_t current_running_stealth[3] = CURRENT_RUNNING_STEALTH;
|
||||
uint8_t current_holding_normal[3] = CURRENT_HOLDING_NORMAL;
|
||||
uint8_t current_holding_stealth[3] = CURRENT_HOLDING_STEALTH;
|
||||
|
||||
//engage_filament_pulley(true); // if idler is in parked position un-park him get in contact with filament
|
||||
|
||||
tmc2130_init_axis(AX_PUL, tmc2130_mode);
|
||||
move_pulley(150, 385);
|
||||
|
||||
// set current to 75%
|
||||
if (tmc2130_mode == NORMAL_MODE) {
|
||||
tmc2130_init_axis_current_normal(AX_PUL, current_holding_normal[AX_PUL],
|
||||
current_running_normal[AX_PUL] - (current_running_normal[AX_PUL] / 4) );
|
||||
} else {
|
||||
tmc2130_init_axis_current_stealth(AX_PUL, current_holding_stealth[AX_PUL],
|
||||
current_running_stealth[AX_PUL] - (current_running_stealth[AX_PUL] / 4) );
|
||||
}
|
||||
move_pulley(170, 385);
|
||||
|
||||
// set current to 25%
|
||||
if (tmc2130_mode == NORMAL_MODE) {
|
||||
tmc2130_init_axis_current_normal(AX_PUL, current_holding_normal[AX_PUL],
|
||||
current_running_normal[AX_PUL] / 4);
|
||||
} else {
|
||||
tmc2130_init_axis_current_stealth(AX_PUL, current_holding_stealth[AX_PUL],
|
||||
current_running_stealth[AX_PUL] / 4);
|
||||
}
|
||||
move_pulley(452, 455);
|
||||
|
||||
|
||||
// reset currents
|
||||
if (tmc2130_mode == NORMAL_MODE) {
|
||||
tmc2130_init_axis_current_normal(AX_PUL, current_holding_normal[AX_PUL],
|
||||
current_running_normal[AX_PUL]);
|
||||
} else {
|
||||
tmc2130_init_axis_current_stealth(AX_PUL, current_holding_stealth[AX_PUL],
|
||||
current_running_stealth[AX_PUL]);
|
||||
}
|
||||
tmc2130_disable_axis(AX_PUL, tmc2130_mode);
|
||||
engage_filament_pulley(false);
|
||||
}
|
||||
|
||||
void init_Pulley()
|
||||
{
|
||||
float _speed = 3000;
|
||||
|
||||
// TODO 1: replace with move-commands
|
||||
|
||||
for (int i = 50; i > 0; i--) {
|
||||
moveSmooth(AX_PUL, 1, 0, false);
|
||||
delayMicroseconds(_speed);
|
||||
shr16_set_led(1 << 2 * (int)(i / 50)); // TODO 2: What the heck?
|
||||
}
|
||||
|
||||
for (int i = 50; i > 0; i--) {
|
||||
moveSmooth(AX_PUL, -1, 0, false);
|
||||
delayMicroseconds(_speed);
|
||||
shr16_set_led(1 << 2 * (4 - (int)(i / 50))); // TODO 2: What the heck?
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief engage_filament_pulley
|
||||
* Turns the idler drum to engage or disengage the filament pully
|
||||
* @param engage
|
||||
* If true, pully can drive the filament afterwards
|
||||
* if false, idler will be parked, so the filament can move freely
|
||||
*/
|
||||
void engage_filament_pulley(bool engage)
|
||||
{
|
||||
if (isIdlerParked && engage) { // get idler in contact with filament
|
||||
move_idler(IDLER_PARKING_STEPS);
|
||||
isIdlerParked = false;
|
||||
} else if (!isIdlerParked && !engage) { // park idler so filament can move freely
|
||||
move_idler(IDLER_PARKING_STEPS * -1);
|
||||
isIdlerParked = true;
|
||||
}
|
||||
}
|
||||
|
||||
void home(bool doToolSync)
|
||||
{
|
||||
homeIdlerSmooth();
|
||||
homeSelectorSmooth();
|
||||
shr16_set_led(0x155);
|
||||
|
||||
isHomed = true;
|
||||
if (doToolSync == true) {
|
||||
int new_extruder = active_extruder;
|
||||
active_extruder = 0;
|
||||
if (active_extruder != new_extruder) {
|
||||
//set_positions(active_extruder, new_extruder); // move idler and selector to new filament position
|
||||
trackToolChanges = 0;
|
||||
}
|
||||
} else active_extruder = 0;
|
||||
|
||||
isIdlerParked = false;
|
||||
engage_filament_pulley(false);
|
||||
shr16_set_led(0x000);
|
||||
|
||||
isFilamentLoaded = false;
|
||||
shr16_set_led(1 << 2 * (4 - active_extruder));
|
||||
}
|
||||
|
||||
void move_idler(int steps, uint16_t speed)
|
||||
{
|
||||
if (speed > MAX_SPEED_IDL) {
|
||||
speed = MAX_SPEED_IDL;
|
||||
}
|
||||
moveSmooth(AX_IDL, steps, MAX_SPEED_IDL, true, true, ACC_IDL_NORMAL);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief move_selector
|
||||
* Strictly prevent selector movement, when filament is in FINDA
|
||||
* @param steps, number of micro steps
|
||||
*/
|
||||
void move_selector(int steps, uint16_t speed)
|
||||
{
|
||||
if (speed > MAX_SPEED_SEL) {
|
||||
speed = MAX_SPEED_SEL;
|
||||
}
|
||||
if (tmc2130_mode == STEALTH_MODE) {
|
||||
if (speed > MAX_SPEED_STEALTH_SEL) {
|
||||
speed = MAX_SPEED_STEALTH_SEL;
|
||||
}
|
||||
}
|
||||
if (isFilamentInFinda() == false) {
|
||||
moveSmooth(AX_SEL, steps, speed);
|
||||
}
|
||||
}
|
||||
|
||||
void move_pulley(int steps, uint16_t speed)
|
||||
{
|
||||
moveSmooth(AX_PUL, steps, speed, false, true);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief set_idler_direction
|
||||
* @param steps: positive = towards engaging filament nr 1,
|
||||
* negative = towards engaging filament nr 5.
|
||||
* @return abs(steps)
|
||||
*/
|
||||
int set_idler_direction(int steps)
|
||||
{
|
||||
if (steps < 0) {
|
||||
steps = steps * -1;
|
||||
shr16_set_dir(shr16_get_dir() & ~4);
|
||||
} else {
|
||||
shr16_set_dir(shr16_get_dir() | 4);
|
||||
}
|
||||
return steps;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief set_selector_direction
|
||||
* Sets the direction bit on the motor driver and returns positive number of steps
|
||||
* @param steps: positive = to the right (towards filament 5),
|
||||
* negative = to the left (towards filament 1)
|
||||
* @return abs(steps)
|
||||
*/
|
||||
int set_selector_direction(int steps)
|
||||
{
|
||||
if (steps < 0) {
|
||||
steps = steps * -1;
|
||||
shr16_set_dir(shr16_get_dir() & ~2);
|
||||
} else {
|
||||
shr16_set_dir(shr16_get_dir() | 2);
|
||||
}
|
||||
return steps;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief set_pulley_direction
|
||||
* @param steps, positive (push) or negative (pull)
|
||||
* @return abs(steps)
|
||||
*/
|
||||
int set_pulley_direction(int steps)
|
||||
{
|
||||
if (steps < 0) {
|
||||
steps = steps * -1;
|
||||
shr16_set_dir(shr16_get_dir() | 1);
|
||||
} else {
|
||||
shr16_set_dir(shr16_get_dir() & ~1);
|
||||
}
|
||||
return steps;
|
||||
}
|
||||
|
||||
MotReturn homeSelectorSmooth()
|
||||
{
|
||||
for (int c = 2; c > 0; c--) { // touch end 2 times
|
||||
moveSmooth(AX_SEL, 4000, 2000, false); // 3000 is too fast, 2500 works, decreased to 2000 for production
|
||||
if (c > 1) {
|
||||
moveSmooth(AX_SEL, -300, 2000, false);
|
||||
}
|
||||
}
|
||||
|
||||
return moveSmooth(AX_SEL, SELECTOR_STEPS_AFTER_HOMING, 8000, false);
|
||||
}
|
||||
|
||||
MotReturn homeIdlerSmooth()
|
||||
{
|
||||
for (int c = 2; c > 0; c--) { // touch end 3 times
|
||||
moveSmooth(AX_IDL, 2000, 3000, false);
|
||||
if (c > 1) {
|
||||
moveSmooth(AX_IDL, -350, MAX_SPEED_IDL, false);
|
||||
}
|
||||
}
|
||||
return moveSmooth(AX_IDL, IDLER_STEPS_AFTER_HOMING, MAX_SPEED_IDL, false);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief moveTest
|
||||
* @param axis, index of axis, use AX_PUL, AX_SEL or AX_IDL
|
||||
* @param steps, number of micro steps to move
|
||||
* @param speed, max. speed
|
||||
* @param rehomeOnFail: flag, by default true, set to false
|
||||
* in homing commands, to prevent endless loops and stack overflow.
|
||||
* @return
|
||||
*/
|
||||
// TODO 3: compensate delay for computation time, to get accurate speeds
|
||||
// TODO 3: add callback or another parameter, which can stop the motion
|
||||
// (e.g. for testing FINDA, timeout, soft stall guard limits, push buttons...)
|
||||
MotReturn moveSmooth(uint8_t axis, int steps, int speed, bool rehomeOnFail, bool withStallDetection, float acc, bool withFindaDetection)
|
||||
{
|
||||
MotReturn ret = MR_Success;
|
||||
|
||||
if (tmc2130_mode == STEALTH_MODE) {
|
||||
withStallDetection = false;
|
||||
}
|
||||
|
||||
float vMax = speed;
|
||||
float v0 = 200; // steps/s, minimum speed
|
||||
float v = v0; // current speed
|
||||
int accSteps = 0; // number of steps for acceleration
|
||||
int stepsDone = 0;
|
||||
int stepsLeft = 0;
|
||||
|
||||
switch (axis) {
|
||||
case AX_PUL:
|
||||
stepsLeft = set_pulley_direction(steps);
|
||||
break;
|
||||
case AX_IDL:
|
||||
stepsLeft = set_idler_direction(steps);
|
||||
break;
|
||||
case AX_SEL:
|
||||
stepsLeft = set_selector_direction(steps);
|
||||
break;
|
||||
}
|
||||
|
||||
enum State {
|
||||
Accelerate = 0,
|
||||
ConstVelocity = 1,
|
||||
Decelerate = 2,
|
||||
};
|
||||
|
||||
State st = Accelerate;
|
||||
|
||||
while (stepsLeft) {
|
||||
switch (axis) {
|
||||
case AX_PUL:
|
||||
PIN_STP_PUL_HIGH;
|
||||
PIN_STP_PUL_LOW;
|
||||
if (withStallDetection && digitalRead(A3) == 1) { // stall detected
|
||||
delay(50); // delay to release the stall detection
|
||||
return MR_Failed;
|
||||
}
|
||||
if (withFindaDetection && steps > 0 && digitalRead(A1) == 1) return MR_Success;
|
||||
if (withFindaDetection && steps < 0 && digitalRead(A1) == 0) return MR_Success;
|
||||
break;
|
||||
case AX_IDL:
|
||||
PIN_STP_IDL_HIGH;
|
||||
PIN_STP_IDL_LOW;
|
||||
if (withStallDetection && digitalRead(A5) == 1) { // stall detected
|
||||
delay(50); // delay to release the stall detection
|
||||
if (rehomeOnFail) {
|
||||
if (homeIdlerSmooth() == MR_Success) {
|
||||
delay(50);
|
||||
reset_positions(AX_IDL, 0, active_extruder);
|
||||
return MR_FailedAndRehomed;
|
||||
} else {
|
||||
return MR_Failed;
|
||||
}
|
||||
} else {
|
||||
return MR_Failed;
|
||||
}
|
||||
}
|
||||
break;
|
||||
case AX_SEL:
|
||||
PIN_STP_SEL_HIGH;
|
||||
PIN_STP_SEL_LOW;
|
||||
if (withStallDetection && digitalRead(A4) == 1) { // stall detected
|
||||
delay(50); // delay to release the stall detection
|
||||
if (rehomeOnFail) {
|
||||
if (homeSelectorSmooth() == MR_Success) {
|
||||
reset_positions(AX_SEL, 0, active_extruder);
|
||||
return MR_FailedAndRehomed;
|
||||
} else {
|
||||
return MR_Failed;
|
||||
}
|
||||
} else {
|
||||
return MR_Failed;
|
||||
}
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
stepsDone++;
|
||||
stepsLeft--;
|
||||
|
||||
float dt = 1 / v;
|
||||
delayMicroseconds(1e6 * dt);
|
||||
|
||||
switch (st) {
|
||||
case Accelerate:
|
||||
v += acc * dt;
|
||||
if (v >= vMax) {
|
||||
accSteps = stepsDone;
|
||||
st = ConstVelocity;
|
||||
|
||||
v = vMax;
|
||||
} else if (stepsDone > stepsLeft) {
|
||||
accSteps = stepsDone;
|
||||
st = Decelerate;
|
||||
|
||||
}
|
||||
break;
|
||||
case ConstVelocity: {
|
||||
if (stepsLeft <= accSteps) {
|
||||
st = Decelerate;
|
||||
}
|
||||
}
|
||||
break;
|
||||
case Decelerate: {
|
||||
v -= acc * dt;
|
||||
if (v < v0) {
|
||||
v = v0;
|
||||
}
|
||||
}
|
||||
break;
|
||||
}
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
bool isFilamentInFinda()
|
||||
{
|
||||
return digitalRead(A1) == 1;
|
||||
}
|
||||
Loading…
Reference in New Issue