#include <pulley.h>

Inheritance diagram for modules::pulley::Pulley:

Collaboration diagram for modules::pulley::Pulley:

Public Member Functions
bool	Step ()

void	PlanMove (mm::P_pos_t delta, mm::P_speed_t feed_rate, mm::P_speed_t end_rate={ 0 })

void	__attribute__ ((always_inline)) PlanMove(unit

int32_t	CurrentPosition_mm ()

void	InitAxis ()

void	Disable ()

Public Member Functions inherited from modules::motion::MovableBase
constexpr	MovableBase (config::Axis axis)

uint8_t	Slot () const
	virtual ~MovableBase(); intentionally disabled, see description in logic::CommandBase More...

uint8_t	State () const

hal::tmc2130::ErrorFlags	TMCErrorFlags () const

void	InvalidateHoming ()

OperationResult	PlanHome ()

bool	HomingValid () const

config::Axis	Axis () const

void	SetCurrents (uint8_t iRun, uint8_t iHold)

void	HoldOn ()

bool	IsOnHold () const

void	Resume ()
	Allows the movable to move/home again after begin suspended by HoldOn.

Protected Member Functions
virtual void	PrepareMoveToPlannedSlot () override

virtual void	PlanHomingMoveForward () override

virtual void	PlanHomingMoveBack () override

virtual bool	FinishHomingAndPlanMoveToParkPos () override

virtual void	FinishMove () override

Protected Member Functions inherited from modules::motion::MovableBase
virtual bool	StallGuardAllowed (bool forward) const

OperationResult	InitMovement ()

OperationResult	InitMovementNoReinitAxis ()
	Initializes movement of a movable module without reinitializing the axis/TMC driver.

void	PerformMove ()

void	PerformHomeForward ()

void	PerformHomeBack ()

void	HomeFailed ()

void	CheckTMC ()

uint16_t	AxisDistance (int32_t curPos) const

Additional Inherited Members
Public Types inherited from modules::motion::MovableBase
enum	{ Ready = 0 , Moving = 1 , PlannedHome = 2 , HomeForward = 3 , HomeBack = 4 , TMCFailed = 5 , HomingFailed = 6 , OnHold = 0x80 }
	Internal states of the state machine. More...

enum class	OperationResult : uint8_t { Accepted , Refused , Failed }
	Operation (Engage/Disengage/MoveToSlot) return values. More...

Protected Attributes inherited from modules::motion::MovableBase
uint8_t	state
	internal state of the automaton

uint8_t	plannedSlot
	planned slot - where to move to

uint8_t	currentSlot
	current slot

bool	homingValid
	true if the axis is considered as homed

hal::tmc2130::ErrorFlags	tmcErrorFlags
	cached TMC2130 error flags - being read only if the axis is enabled and doing something (moving)

config::Axis	axis

int32_t	axisStart

Detailed Description

The Pulley model is an analogy to Idler and Selector. It encapsulates the same error handling principles like the other two (motored) modules. On the other hand - the Pulley is much simpler, there is no homing, engage/disengage and slots, but it supports free rotation in either directions and some computation on top of it.

Member Function Documentation

◆ CurrentPosition_mm()

int32_t modules::pulley::Pulley::CurrentPosition_mm ( )

Returns: rounded current position (rotation) of the Pulley This exists purely to avoid expensive float (long double) computations of distance traveled by the filament

◆ FinishHomingAndPlanMoveToParkPos()

virtual bool modules::pulley::Pulley::FinishHomingAndPlanMoveToParkPos ( )

overrideprotectedvirtual

Returns: true if the measured axis length is within the expected range, false otherwise

Implements modules::motion::MovableBase.

◆ Step()

bool modules::pulley::Pulley::Step ( )

Performs one step of the state machine according to currently planned operation

Returns: true if the pulley is ready to accept new commands (i.e. it has finished the last operation)

The documentation for this class was generated from the following files:

src/modules/pulley.h
src/modules/pulley.cpp

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ CurrentPosition_mm()

◆ FinishHomingAndPlanMoveToParkPos()

◆ Step()