Skip to content

Commit

Permalink
code organisation. Cut testing complete, confirmed functionality.
Browse files Browse the repository at this point in the history
  • Loading branch information
@TheZeroBeast
TheZeroBeast committed Jan 20, 2021
1 parent b3522f5 commit 2b05b45
Show file tree
Hide file tree
Showing 6 changed files with 379 additions and 380 deletions.
2 changes: 1 addition & 1 deletion src/config.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@


#define FW_VERSION 320 // example: 103 means version 1.0.3
#define FW_BUILDNR 368 // number of commits in 'master'
#define FW_BUILDNR 369 // number of commits in 'master'

#define WAKE_TIMER 300000 // 5m

Expand Down
5 changes: 3 additions & 2 deletions src/main.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -283,8 +283,9 @@ void process_commands(void)
recover_after_eject();
txPayload(OK);
} else if (tData1 == 'K') {
if (tData2 < EXTRUDERS) { // Kx: cut filament
mmctl_cut_filament();
// Kx Cut filament
if (tData2 < EXTRUDERS) {
mmctl_cut_filament(tData2);
txPayload(OK);
}
}
Expand Down
345 changes: 345 additions & 0 deletions src/mmctl.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -124,3 +124,348 @@ void led_blink(int _no)
shr16_clr_led();
delay(10);
}

/**
* @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(uint8_t extruder)
{
// if there is still filament detected by PINDA unload it first
if (isFilamentLoaded()) unload_filament_withSensor();

set_positions(extruder, true);
if (active_extruder == (EXTRUDERS - 1)) setSEL2pos(0);
else setSEL2pos(EXTRUDERS);
isEjected = true;

engage_filament_pulley(true);
tmc2130_init_axis(AX_PUL, tmc2130_mode);

// push filament forward
move_pulley(EJECT_PULLEY_STEPS, filament_lookup_table[5][filament_type[active_extruder]]);

// unpark idler so user can easily remove filament
engage_filament_pulley(false);
shr16_clr_ena(AX_PUL);
}

void recover_after_eject()
{
while (isFilamentLoaded()) fixTheProblem();
home(true);
isEjected = false;
}

void load_filament_withSensor(uint16_t setupBowLen)
{
uint8_t retries = 1;
bool _retry = false;
do {
if (!isHomed && (setupBowLen == 0)) home(true);
engage_filament_pulley(true); // get in contact with filament
//tmc2130_init_axis(AX_PUL, tmc2130_mode); duplicate as it's done at the start of engage_filament_pulley

// 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, try 1000 incase user is feeding to pulley
if (moveSmooth(AX_PUL, 2000, filament_lookup_table[5][filament_type[active_extruder]],
false, false, GLOBAL_ACC, true) == MR_Success) { // Move to Pulley
txFINDAStatus();
if (setupBowLen != 0) {
moveSmooth(AX_PUL, setupBowLen, filament_lookup_table[0][filament_type[active_extruder]],
false, false, filament_lookup_table[1][filament_type[active_extruder]]); // Load filament down to MK3-FSensor
_retry = true;
} else {
moveSmooth(AX_PUL, 500, filament_lookup_table[5][filament_type[active_extruder]],
false, false); // Go 500 steps more to get past FINDA before ramping.
moveSmooth(AX_PUL, BOWDEN_LENGTH - 500, filament_lookup_table[0][filament_type[active_extruder]],
false, false, filament_lookup_table[1][filament_type[active_extruder]]); // Load filament down to near MK3-FSensor
txPayload((unsigned char*)"IRSEN");
IR_SENSOR = false;
if (moveSmooth(AX_PUL, filament_lookup_table[4][filament_type[active_extruder]], 200,
false, false, GLOBAL_ACC, false, true) == MR_Success) {
shr16_clr_led(); //shr16_set_led(0x000); // Clear all 10 LEDs on MMU unit
shr16_set_led(1 << 2 * (4 - active_extruder));
_retry = true;
}
else
{
txPayload((unsigned char*)"ZL2"); // Report Loading failed @ IR_SENSOR
fixTheProblem();
}
}
}
else
{
if (retries > 0)
{
set_idler_toLast_positions(active_extruder);
retries--;
}
else
{
txPayload((unsigned char*)"ZL1--"); // Report Loading failed @ FINDA
fixTheProblem();
}
}
} while (!_retry);
startWakeTime = millis(); // Start/Reset wakeTimer
}

/**
* @brief unload_filament_withSensor
* unloads filament from extruder - filament is above Bondtech gears
*/
void unload_filament_withSensor(uint8_t extruder)
{
int unloadFINDACheckSteps = -3000;
if (isFilamentLoaded()) {
engage_filament_pulley(true); // get in contact with filament
uint8_t mmPerSecSpeedUpper = (0xFF & ((filament_lookup_table[8][filament_type[extruder]] / AX_PUL_STEP_MM_Ratio) >> 8));
uint8_t mmPerSecSpeedLower = (0xFF & (filament_lookup_table[8][filament_type[extruder]] / AX_PUL_STEP_MM_Ratio));
unsigned char txUFR[5] = {'U', mmPerSecSpeedUpper, mmPerSecSpeedLower, BLK, BLK};
txPayload(txUFR);
delay(40);
moveSmooth(AX_PUL, -(20*AX_PUL_STEP_MM_Ratio), filament_lookup_table[8][filament_type[extruder]],
false, false, GLOBAL_ACC);
if (moveSmooth(AX_PUL, ((BOWDEN_LENGTH -(20*AX_PUL_STEP_MM_Ratio)) * -1),
filament_lookup_table[0][filament_type[extruder]], false, false,
filament_lookup_table[1][filament_type[extruder]], true) == MR_Success) goto loop;
if (filament_type[extruder] == 1) unloadFINDACheckSteps = -5000;
if (moveSmooth(AX_PUL, unloadFINDACheckSteps, filament_lookup_table[5][filament_type[extruder]],
false, false, GLOBAL_ACC, true) == MR_Success) { // move to trigger FINDA
loop:
moveSmooth(AX_PUL, filament_lookup_table[3][filament_type[extruder]],
filament_lookup_table[5][filament_type[extruder]], false, false, GLOBAL_ACC); // move to filament parking position
} else if (isFilamentLoaded()) {
txPayload((unsigned char*)"ZU---"); // Report Unloading failed to MK3
if (extruder != active_extruder) fixTheProblem(true);
else fixTheProblem();
homedOnUnload = true;
}
}
shr16_clr_ena(AX_PUL);
engage_filament_pulley(false);
}

/**
* @brief unload_filament_withSensor
* unloads filament from extruder - filament is above Bondtech gears
*/
void unload_filament_forSetup(uint16_t distance, uint8_t extruder)
{
int unloadFINDACheckSteps = -3000;
if (isFilamentLoaded()) {
tmc2130_init_axis(AX_PUL, tmc2130_mode);
tmc2130_init_axis(AX_IDL, tmc2130_mode);

engage_filament_pulley(true); // get in contact with filament
uint8_t mmPerSecSpeedUpper = (0xFF & ((filament_lookup_table[8][filament_type[extruder]] / AX_PUL_STEP_MM_Ratio) >> 8));
uint8_t mmPerSecSpeedLower = (0xFF & (filament_lookup_table[8][filament_type[extruder]] / AX_PUL_STEP_MM_Ratio));
unsigned char txUFR[5] = {'U',mmPerSecSpeedUpper, mmPerSecSpeedLower, BLK, BLK};
txPayload(txUFR);
delay(40);
if (moveSmooth(AX_PUL, (distance * -1),
filament_lookup_table[0][filament_type[extruder]], false, false,
filament_lookup_table[1][filament_type[extruder]], true) == MR_Success) goto loop;
if (filament_type[extruder] == 1) unloadFINDACheckSteps = -5000;
if (moveSmooth(AX_PUL, unloadFINDACheckSteps, filament_lookup_table[5][filament_type[extruder]],
false, false, GLOBAL_ACC, true) == MR_Success) { // move to trigger FINDA
loop:
moveSmooth(AX_PUL, filament_lookup_table[3][filament_type[extruder]],
filament_lookup_table[5][filament_type[extruder]], false, false, GLOBAL_ACC); // move to filament parking position
} else if (isFilamentLoaded()) {
txPayload((unsigned char*)"ZU---"); // Report Unloading failed to MK3
if (extruder != active_extruder) fixTheProblem(true);
else fixTheProblem();
homedOnUnload = true;
}
}

shr16_clr_ena(AX_PUL);
engage_filament_pulley(false);
}

/**
* @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); // get in contact with filament

tmc2130_init_axis(AX_PUL, tmc2130_mode);
move_pulley(150, filament_lookup_table[6][filament_type[active_extruder]]);

// 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), false);
} 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, filament_lookup_table[6][filament_type[active_extruder]]);

// set current to 50%
if (tmc2130_mode == NORMAL_MODE) {
tmc2130_init_axis_current_normal(AX_PUL, current_holding_normal[AX_PUL],
current_running_normal[AX_PUL] / 2, false);
} else {
tmc2130_init_axis_current_stealth(AX_PUL, current_holding_stealth[AX_PUL],
current_running_stealth[AX_PUL] / 2);
}
move_pulley(820, filament_lookup_table[7][filament_type[active_extruder]]);
shr16_clr_ena(AX_PUL);
engage_filament_pulley(false); // release contact with filament

// reset currents
if (tmc2130_mode == NORMAL_MODE) {
tmc2130_init_axis_current_normal(AX_PUL, current_holding_normal[AX_PUL],
current_running_normal[AX_PUL], false);
} else {
tmc2130_init_axis_current_stealth(AX_PUL, current_holding_stealth[AX_PUL],
current_running_stealth[AX_PUL]);
}
shr16_clr_ena(AX_PUL);
}

/**
* @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
isLoading = true;
tmc2130_init(tmc2130_mode);
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;
isLoading = false;
tmc2130_init(tmc2130_mode);
}
}

void home(bool doToolSync)
{
bool previouslyEngaged = !isIdlerParked;
homeIdlerSmooth();
homeSelectorSmooth();

shr16_clr_led();
shr16_set_led(0x155); // All five red

shr16_clr_led(); // All five off

shr16_clr_led();
shr16_set_led(1 << 2 * (4 - active_extruder));

isHomed = true;
startWakeTime = millis();

if (doToolSync) {
set_positions(active_extruder);
FilamentLoaded::set(active_extruder);
engage_filament_pulley(previouslyEngaged);
trackToolChanges = 0;
}
}

bool set_positions(uint8_t _next_extruder, bool update_extruders)
{
bool _return0 = false, _return1 = false;
if (update_extruders) {
previous_extruder = active_extruder;
active_extruder = _next_extruder;
FilamentLoaded::set(active_extruder);
unsigned char temp[5] = {'A', 'E', (uint8_t)active_extruder, BLK, BLK};
txPayload(temp);
}
if (!isHomed) home(true);
else {
_return0 = setIDL2pos(_next_extruder);
_return1 = setSEL2pos(_next_extruder);
}
if (!_return0 || !_return1) return false;
else return true;
}

bool setIDL2pos(uint8_t _next_extruder)
{
bool _return = false;
if (_next_extruder == EXTRUDERS) _next_extruder -= 1;
int _idler_steps = (idlerStepPositionsFromHome[_next_extruder] - idlerStepPositionsFromHome[activeIdlPos]);
if (move_idler(_idler_steps)) { activeIdlPos = _next_extruder; _return = true; }
return _return;
}

bool setSEL2pos(uint8_t _next_extruder)
{
bool _return = false;
int _selector_steps = (selectorStepPositionsFromHome[_next_extruder] - selectorStepPositionsFromHome[activeSelPos]);
if (move_selector(_selector_steps)) { activeSelPos = _next_extruder; _return = true; }
return _return;
}

void set_idler_toLast_positions(uint8_t _next_extruder)
{
bool previouslyEngaged = !isIdlerParked;
homeIdlerSmooth();
if (!setIDL2pos(_next_extruder)) fixTheProblem();
engage_filament_pulley(previouslyEngaged);
}

void set_sel_toLast_positions(uint8_t _next_extruder)
{
homeSelectorSmooth();
if (!setSEL2pos(_next_extruder)) fixTheProblem();
}

/**
* @Cut off a tip that isn't loading correctly
* move selector sideways and push filament forward a little bit, move selector to cut tip with SG to home if loss of step,
* pull filament back a bit. parent method would then attempt to gently feed filament again
*/
void mmctl_cut_filament(uint8_t _next_extruder)
{
const int pulCutStepsPre = 700;
const int pulCutStepsPost = -150;

previous_extruder = active_extruder;
active_extruder = _next_extruder;
if (!isHomed) home();
setIDL2pos(_next_extruder);
setSEL2pos(_next_extruder + 1);
engage_filament_pulley(true);
if (!(tmc2130_mode == NORMAL_MODE)) tmc2130_init(NORMAL_MODE); // Set normal mode for cut
moveSmooth(AX_PUL, pulCutStepsPre, filament_lookup_table[5][filament_type[_next_extruder]],
false, false, GLOBAL_ACC_DEF_NORMAL); // Set filament for the chop :)
int _selector_steps = (selectorStepPositionsFromHome[activeSelPos - 1] - selectorStepPositionsFromHome[activeSelPos]);
moveSmooth(AX_SEL, _selector_steps, filament_lookup_table[0][filament_type[_next_extruder]],
false, false, GLOBAL_ACC_DEF_NORMAL); // The CHOP!!
moveSmooth(AX_PUL, pulCutStepsPost, filament_lookup_table[5][filament_type[_next_extruder]],
false, false, GLOBAL_ACC_DEF_NORMAL); // re-park filament post chop
engage_filament_pulley(false);
if (!(tmc2130_mode == NORMAL_MODE)) tmc2130_init(tmc2130_mode);
homeSelectorSmooth();
setSEL2pos(_next_extruder);
}
15 changes: 14 additions & 1 deletion src/mmctl.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -21,6 +21,19 @@ extern uint16_t trackToolChanges;
void toolChange(int new_extruder);
bool feed_filament(void);
void led_blink(int _no);

void engage_filament_pulley(bool engage);
void load_filament_withSensor(uint16_t setupBowLen = 0);
void unload_filament_withSensor(uint8_t extruder = active_extruder);
void unload_filament_forSetup(uint16_t distance, uint8_t extruder = active_extruder);
void load_filament_into_extruder();
void home(bool doToolSync = false);
bool set_positions(uint8_t _next_extruder, bool update_extruders = false);
void set_idler_toLast_positions(uint8_t _next_extruder);
void set_sel_toLast_positions(uint8_t _next_extruder);
bool setIDL2pos(uint8_t _next_extruder);
bool setSEL2pos(uint8_t _next_extruder);
void eject_filament(uint8_t extruder);
void recover_after_eject();
void mmctl_cut_filament(uint8_t x2cut);

#endif //_MMCTL_H
Loading

0 comments on commit 2b05b45

Please sign in to comment.