selector.h

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#pragma once
#include "../config/config.h"
#include "axisunit.h"
#include "movable_base.h"
 
namespace modules {
 
namespace selector {
 
namespace mm = modules::motion;
 
class Selector : public mm::MovableBase {
public:
    inline constexpr Selector()
        : MovableBase(mm::Selector) {}
 
    OperationResult MoveToSlot(uint8_t slot);
 
    bool Step();
 
    static constexpr mm::S_pos_t SlotPosition(uint8_t slot) {
        return mm::unitToAxisUnit<mm::S_pos_t>(config::selectorSlotPositions[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;
 
private:
};
 
extern Selector selector;
 
} // namespace selector
} // namespace modules
 
namespace ms = modules::selector;