idler.h

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#pragma once
#include "../config/config.h"
#include "axisunit.h"
#include "movable_base.h"
 
namespace modules {
 
namespace idler {
 
namespace mm = modules::motion;
 
class Idler : public motion::MovableBase {
public:
    inline constexpr Idler()
        : MovableBase(mm::Idler)
        , plannedMove(Operation::disengage)
        , currentlyEngaged(Operation::disengage) {}
 
    OperationResult Engage(uint8_t slot);
 
    OperationResult Disengage();
 
    OperationResult PartiallyDisengage(uint8_t slot);
 
    bool Step();
 
    inline bool Engaged() const { return currentlyEngaged == Operation::engage; }
    inline bool Disengaged() const { return currentlyEngaged == Operation::disengage; }
    inline bool PartiallyDisengaged() const { return currentlyEngaged == Operation::intermediate; }
 
    static constexpr mm::I_pos_t SlotPosition(uint8_t slot) {
        return mm::unitToAxisUnit<mm::I_pos_t>(config::idlerSlotPositions[slot]);
    }
 
    static constexpr mm::I_pos_t IntermediateSlotPosition(uint8_t slot) {
        return mm::unitToAxisUnit<mm::I_pos_t>(config::idlerIntermediateSlotPositions[slot]);
    }
 
    inline static constexpr uint8_t IdleSlotIndex() { return config::toolCount; }
 
    void Init();
 
protected:
    virtual void PrepareMoveToPlannedSlot() override;
    virtual void PlanHomingMoveForward() override;
    virtual void PlanHomingMoveBack() override;
    virtual bool FinishHomingAndPlanMoveToParkPos() override;
    virtual void FinishMove() override;
    virtual bool StallGuardAllowed(bool forward) const override;
 
private:
    enum class Operation : uint8_t {
        disengage = 0,
        engage = 1,
        intermediate = 2 
    };
 
    OperationResult PlanMoveInner(uint8_t slot, Operation plannedOp);
 
    Operation plannedMove;
 
    Operation currentlyEngaged;
};
 
extern Idler idler;
 
} // namespace idler
} // namespace modules
 
namespace mi = modules::idler;