The selector model - handles asynchronnous move operations between filament individual slots and keeps track of selector's current state. More...

#include <selector.h>

Inheritance diagram for modules::selector::Selector:

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Collaboration diagram for modules::selector::Selector:

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Public Member Functions
OperationResult	MoveToSlot (uint8_t slot)

bool	Step ()

void	Init ()

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.

Static Public Member Functions
static constexpr mm::S_pos_t	SlotPosition (uint8_t slot)

static constexpr uint8_t	IdleSlotIndex ()

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 selector model - handles asynchronnous move operations between filament individual slots and keeps track of selector's current state.

Member Function Documentation

◆ FinishHomingAndPlanMoveToParkPos()

bool modules::selector::Selector::FinishHomingAndPlanMoveToParkPos ( )

overrideprotectedvirtual

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

Implements modules::motion::MovableBase.

◆ IdleSlotIndex()

static constexpr uint8_t modules::selector::Selector::IdleSlotIndex ( )

inlinestaticconstexpr

Returns: the index of idle position of the selector, usually 5 in case of 0-4 valid indices of filament slots

◆ Init()

void modules::selector::Selector::Init ( )

Initializes the selector after restart/cold boot Reads the active slot from the EEPROM and decides if the selector is free or blocked by a piece of filament

free -> home the selector
blocked -> set selector's position according to the active filament slot

◆ MoveToSlot()

Selector::OperationResult modules::selector::Selector::MoveToSlot ( uint8_t slot )

Plan move of the selector to a specific filament slot

Parameters

slot	index to move to

Returns: false in case an operation is already underway

Note: if(state==OnHold) all attempts to move the selector are rejected with OperationResult::Rejected

◆ SlotPosition()

static constexpr mm::S_pos_t modules::selector::Selector::SlotPosition ( uint8_t slot )

inlinestaticconstexpr

Returns: predefined positions of individual slots

◆ Step()

bool modules::selector::Selector::Step ( )

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

Returns: true if the selector 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/selector.h
src/modules/selector.cpp

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members