Stéphane Cachat / Mbed 2 deprecated Smoothie

smoothie port to mbed online compiler (smoothieware.org)

Dependencies:   mbed

For documentation, license, ..., please check http://smoothieware.org/

This version has been tested with a 3 axis machine

modules/tools/extruder/Extruder.cpp@0:31e91bb0ef3c, 2012-07-31 (annotated)

Committer:
scachat
Date:
Tue Jul 31 21:11:18 2012 +0000
Revision:
0:31e91bb0ef3c
smoothie port to mbed online compiler

Who changed what in which revision?

UserRevisionLine numberNew contents of line
scachat 0:31e91bb0ef3c 1 /*
scachat 0:31e91bb0ef3c 2 This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
scachat 0:31e91bb0ef3c 3 Smoothie is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.
scachat 0:31e91bb0ef3c 4 Smoothie is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
scachat 0:31e91bb0ef3c 5 You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
scachat 0:31e91bb0ef3c 6 */
scachat 0:31e91bb0ef3c 7
scachat 0:31e91bb0ef3c 8
scachat 0:31e91bb0ef3c 9 #include "libs/Module.h"
scachat 0:31e91bb0ef3c 10 #include "libs/Kernel.h"
scachat 0:31e91bb0ef3c 11 #include "modules/robot/Player.h"
scachat 0:31e91bb0ef3c 12 #include "modules/robot/Block.h"
scachat 0:31e91bb0ef3c 13 #include "modules/tools/extruder/Extruder.h"
scachat 0:31e91bb0ef3c 14
scachat 0:31e91bb0ef3c 15 #define extruder_step_pin_checksum 40763
scachat 0:31e91bb0ef3c 16 #define extruder_dir_pin_checksum 57277
scachat 0:31e91bb0ef3c 17 #define extruder_en_pin_checksum 8017
scachat 0:31e91bb0ef3c 18
scachat 0:31e91bb0ef3c 19 Extruder::Extruder() {
scachat 0:31e91bb0ef3c 20 this->absolute_mode = true;
scachat 0:31e91bb0ef3c 21 this->direction = 1;
scachat 0:31e91bb0ef3c 22 this->acceleration_lock = false;
scachat 0:31e91bb0ef3c 23 this->step_counter = 0;
scachat 0:31e91bb0ef3c 24 this->counter_increment = 0;
scachat 0:31e91bb0ef3c 25 this->paused = false;
scachat 0:31e91bb0ef3c 26 }
scachat 0:31e91bb0ef3c 27
scachat 0:31e91bb0ef3c 28 void Extruder::on_module_loaded() {
scachat 0:31e91bb0ef3c 29
scachat 0:31e91bb0ef3c 30 // Do not do anything if not enabledd
scachat 0:31e91bb0ef3c 31 if( this->kernel->config->value( extruder_module_enable_checksum )->by_default(false)->as_bool() == false ){ return; }
scachat 0:31e91bb0ef3c 32
scachat 0:31e91bb0ef3c 33 // Settings
scachat 0:31e91bb0ef3c 34 this->on_config_reload(this);
scachat 0:31e91bb0ef3c 35
scachat 0:31e91bb0ef3c 36 // We work on the same Block as Stepper, so we need to know when it gets a new one and drops one
scachat 0:31e91bb0ef3c 37 this->register_for_event(ON_BLOCK_BEGIN);
scachat 0:31e91bb0ef3c 38 this->register_for_event(ON_BLOCK_END);
scachat 0:31e91bb0ef3c 39 this->register_for_event(ON_GCODE_EXECUTE);
scachat 0:31e91bb0ef3c 40 this->register_for_event(ON_PLAY);
scachat 0:31e91bb0ef3c 41 this->register_for_event(ON_PAUSE);
scachat 0:31e91bb0ef3c 42
scachat 0:31e91bb0ef3c 43 // Start values
scachat 0:31e91bb0ef3c 44 this->start_position = 0;
scachat 0:31e91bb0ef3c 45 this->target_position = 0;
scachat 0:31e91bb0ef3c 46 this->current_position = 0;
scachat 0:31e91bb0ef3c 47 this->current_block = NULL;
scachat 0:31e91bb0ef3c 48 this->mode = OFF;
scachat 0:31e91bb0ef3c 49
scachat 0:31e91bb0ef3c 50 // Update speed every *acceleration_ticks_per_second*
scachat 0:31e91bb0ef3c 51 // TODO: Make this an independent setting
scachat 0:31e91bb0ef3c 52 this->kernel->slow_ticker->attach( this->kernel->stepper->acceleration_ticks_per_second , this, &Extruder::acceleration_tick );
scachat 0:31e91bb0ef3c 53
scachat 0:31e91bb0ef3c 54 // Initiate main_interrupt timer and step reset timer
scachat 0:31e91bb0ef3c 55 this->kernel->step_ticker->attach( this, &Extruder::stepping_tick );
scachat 0:31e91bb0ef3c 56 this->kernel->step_ticker->reset_attach( this, &Extruder::reset_step_pin );
scachat 0:31e91bb0ef3c 57
scachat 0:31e91bb0ef3c 58 }
scachat 0:31e91bb0ef3c 59
scachat 0:31e91bb0ef3c 60 // Get config
scachat 0:31e91bb0ef3c 61 void Extruder::on_config_reload(void* argument){
scachat 0:31e91bb0ef3c 62 this->microseconds_per_step_pulse = this->kernel->config->value(microseconds_per_step_pulse_checksum)->by_default(5)->as_number();
scachat 0:31e91bb0ef3c 63 this->steps_per_millimeter = this->kernel->config->value(extruder_steps_per_mm_checksum )->by_default(1)->as_number();
scachat 0:31e91bb0ef3c 64 this->feed_rate = this->kernel->config->value(default_feed_rate_checksum )->by_default(1)->as_number();
scachat 0:31e91bb0ef3c 65 this->acceleration = this->kernel->config->value(acceleration_checksum )->by_default(1)->as_number();
scachat 0:31e91bb0ef3c 66
scachat 0:31e91bb0ef3c 67 this->step_pin = this->kernel->config->value(extruder_step_pin_checksum )->by_default("1.22" )->as_pin()->as_output();
scachat 0:31e91bb0ef3c 68 this->dir_pin = this->kernel->config->value(extruder_dir_pin_checksum )->by_default("1.19" )->as_pin()->as_output();
scachat 0:31e91bb0ef3c 69 this->en_pin = this->kernel->config->value(extruder_en_pin_checksum )->by_default("0.19" )->as_pin()->as_output();
scachat 0:31e91bb0ef3c 70 }
scachat 0:31e91bb0ef3c 71
scachat 0:31e91bb0ef3c 72
scachat 0:31e91bb0ef3c 73 // When the play/pause button is set to pause, or a module calls the ON_PAUSE event
scachat 0:31e91bb0ef3c 74 void Extruder::on_pause(void* argument){
scachat 0:31e91bb0ef3c 75 this->paused = true;
scachat 0:31e91bb0ef3c 76 }
scachat 0:31e91bb0ef3c 77
scachat 0:31e91bb0ef3c 78 // When the play/pause button is set to play, or a module calls the ON_PLAY event
scachat 0:31e91bb0ef3c 79 void Extruder::on_play(void* argument){
scachat 0:31e91bb0ef3c 80 this->paused = false;
scachat 0:31e91bb0ef3c 81 }
scachat 0:31e91bb0ef3c 82
scachat 0:31e91bb0ef3c 83
scachat 0:31e91bb0ef3c 84
scachat 0:31e91bb0ef3c 85 // Compute extrusion speed based on parameters and gcode distance of travel
scachat 0:31e91bb0ef3c 86 void Extruder::on_gcode_execute(void* argument){
scachat 0:31e91bb0ef3c 87 Gcode* gcode = static_cast<Gcode*>(argument);
scachat 0:31e91bb0ef3c 88
scachat 0:31e91bb0ef3c 89 // Absolute/relative mode
scachat 0:31e91bb0ef3c 90 if( gcode->has_letter('M')){
scachat 0:31e91bb0ef3c 91 int code = (int) gcode->get_value('M');
scachat 0:31e91bb0ef3c 92 if( code == 82 ){ this->absolute_mode = true; }
scachat 0:31e91bb0ef3c 93 if( code == 83 ){ this->absolute_mode = false; }
scachat 0:31e91bb0ef3c 94 if( code == 84 ){ this->en_pin->set(0); }
scachat 0:31e91bb0ef3c 95 }
scachat 0:31e91bb0ef3c 96
scachat 0:31e91bb0ef3c 97 // The mode is OFF by default, and SOLO or FOLLOW only if we need to extrude
scachat 0:31e91bb0ef3c 98 this->mode = OFF;
scachat 0:31e91bb0ef3c 99
scachat 0:31e91bb0ef3c 100 if( gcode->has_letter('G') ){
scachat 0:31e91bb0ef3c 101 // G92: Reset extruder position
scachat 0:31e91bb0ef3c 102 if( gcode->get_value('G') == 92 ){
scachat 0:31e91bb0ef3c 103 if( gcode->has_letter('E') ){
scachat 0:31e91bb0ef3c 104 this->current_position = gcode->get_value('E');
scachat 0:31e91bb0ef3c 105 this->target_position = this->current_position;
scachat 0:31e91bb0ef3c 106 this->start_position = this->current_position;
scachat 0:31e91bb0ef3c 107 }
scachat 0:31e91bb0ef3c 108 }else{
scachat 0:31e91bb0ef3c 109 // Extrusion length from 'G' Gcode
scachat 0:31e91bb0ef3c 110 if( gcode->has_letter('E' )){
scachat 0:31e91bb0ef3c 111 // Get relative extrusion distance depending on mode ( in absolute mode we must substract target_position )
scachat 0:31e91bb0ef3c 112 double relative_extrusion_distance = gcode->get_value('E');
scachat 0:31e91bb0ef3c 113 if( this->absolute_mode == true ){ relative_extrusion_distance = relative_extrusion_distance - this->target_position; }
scachat 0:31e91bb0ef3c 114
scachat 0:31e91bb0ef3c 115 // If the robot is moving, we follow it's movement, otherwise, we move alone
scachat 0:31e91bb0ef3c 116 if( fabs(gcode->millimeters_of_travel) < 0.0001 ){ // With floating numbers, we can have 0 != 0 ... beeeh
scachat 0:31e91bb0ef3c 117 this->mode = SOLO;
scachat 0:31e91bb0ef3c 118 this->travel_distance = relative_extrusion_distance;
scachat 0:31e91bb0ef3c 119 if( gcode->has_letter('F') ){ this->feed_rate = gcode->get_value('F'); }
scachat 0:31e91bb0ef3c 120 }else{
scachat 0:31e91bb0ef3c 121 this->mode = FOLLOW;
scachat 0:31e91bb0ef3c 122 // We move proportionally to the robot's movement
scachat 0:31e91bb0ef3c 123 this->travel_ratio = relative_extrusion_distance / gcode->millimeters_of_travel;
scachat 0:31e91bb0ef3c 124 }
scachat 0:31e91bb0ef3c 125
scachat 0:31e91bb0ef3c 126 this->en_pin->set(1);
scachat 0:31e91bb0ef3c 127 }
scachat 0:31e91bb0ef3c 128 }
scachat 0:31e91bb0ef3c 129 }
scachat 0:31e91bb0ef3c 130
scachat 0:31e91bb0ef3c 131 }
scachat 0:31e91bb0ef3c 132
scachat 0:31e91bb0ef3c 133 // When a new block begins, either follow the robot, or step by ourselves ( or stay back and do nothing )
scachat 0:31e91bb0ef3c 134 void Extruder::on_block_begin(void* argument){
scachat 0:31e91bb0ef3c 135 Block* block = static_cast<Block*>(argument);
scachat 0:31e91bb0ef3c 136 if( this->mode == SOLO ){
scachat 0:31e91bb0ef3c 137 // In solo mode we take the block so we can move even if the stepper has nothing to do
scachat 0:31e91bb0ef3c 138 block->take();
scachat 0:31e91bb0ef3c 139 this->current_block = block;
scachat 0:31e91bb0ef3c 140 this->start_position = this->target_position;
scachat 0:31e91bb0ef3c 141 this->target_position = this->start_position + this->travel_distance ;
scachat 0:31e91bb0ef3c 142 this->travel_ratio = 0.2; // TODO : Make a real acceleration thing
scachat 0:31e91bb0ef3c 143 if( this->target_position > this->current_position ){ this->direction = 1; }else if( this->target_position < this->current_position ){ this->direction = -1; }
scachat 0:31e91bb0ef3c 144 this->set_speed(int(floor((this->feed_rate/60)*this->steps_per_millimeter)));//Speed in steps per second
scachat 0:31e91bb0ef3c 145 }else if( this->mode == FOLLOW ){
scachat 0:31e91bb0ef3c 146 // In non-solo mode, we just follow the stepper module
scachat 0:31e91bb0ef3c 147 this->current_block = block;
scachat 0:31e91bb0ef3c 148 this->start_position = this->target_position;
scachat 0:31e91bb0ef3c 149 this->target_position = this->start_position + ( this->current_block->millimeters * this->travel_ratio );
scachat 0:31e91bb0ef3c 150 if( this->target_position > this->current_position ){ this->direction = 1; }else if( this->target_position < this->current_position ){ this->direction = -1; }
scachat 0:31e91bb0ef3c 151 this->acceleration_tick(0);
scachat 0:31e91bb0ef3c 152 }
scachat 0:31e91bb0ef3c 153
scachat 0:31e91bb0ef3c 154 }
scachat 0:31e91bb0ef3c 155
scachat 0:31e91bb0ef3c 156 // When a block ends, pause the stepping interrupt
scachat 0:31e91bb0ef3c 157 void Extruder::on_block_end(void* argument){
scachat 0:31e91bb0ef3c 158 Block* block = static_cast<Block*>(argument);
scachat 0:31e91bb0ef3c 159 this->current_block = NULL;
scachat 0:31e91bb0ef3c 160 }
scachat 0:31e91bb0ef3c 161
scachat 0:31e91bb0ef3c 162 // Called periodically to change the speed to match acceleration or to match the speed of the robot
scachat 0:31e91bb0ef3c 163 uint32_t Extruder::acceleration_tick(uint32_t dummy){
scachat 0:31e91bb0ef3c 164
scachat 0:31e91bb0ef3c 165 // Avoid trying to work when we really shouldn't ( between blocks or re-entry )
scachat 0:31e91bb0ef3c 166 if( this->current_block == NULL || this->acceleration_lock || this->paused ){ return 0; }
scachat 0:31e91bb0ef3c 167 this->acceleration_lock = true;
scachat 0:31e91bb0ef3c 168
scachat 0:31e91bb0ef3c 169 // In solo mode, we mode independently from the robot
scachat 0:31e91bb0ef3c 170 if( this->mode == SOLO ){
scachat 0:31e91bb0ef3c 171 // TODO : Do real acceleration here
scachat 0:31e91bb0ef3c 172 this->travel_ratio += 0.03;
scachat 0:31e91bb0ef3c 173 if( this->travel_ratio > 1 ){ this->travel_ratio = 1; }
scachat 0:31e91bb0ef3c 174 this->set_speed( int(floor(((this->feed_rate/60)*this->steps_per_millimeter)*this->travel_ratio)) ); // Speed in steps per second
scachat 0:31e91bb0ef3c 175
scachat 0:31e91bb0ef3c 176 // In follow mode we match the speed of the robot, + eventually advance
scachat 0:31e91bb0ef3c 177 }else if( this->mode == FOLLOW ){
scachat 0:31e91bb0ef3c 178 Stepper* stepper = this->kernel->stepper; // Just for convenience
scachat 0:31e91bb0ef3c 179
scachat 0:31e91bb0ef3c 180 // Strategy :
scachat 0:31e91bb0ef3c 181 // * Find where in the block will the stepper be at the next tick ( if the block will have ended then, don't change speed )
scachat 0:31e91bb0ef3c 182 // * Find what position this is for us
scachat 0:31e91bb0ef3c 183 // * Find what speed we must go at to be at that position for the next acceleration tick
scachat 0:31e91bb0ef3c 184 // TODO : This works, but PLEASE PLEASE PLEASE if you know a better way to do it, do it better, I don't find this elegant at all, it's just the best I could think of
scachat 0:31e91bb0ef3c 185 // UPDATE: Yes, this sucks, I have ideas on how to do it better. If this is really bugging you, open a ticket and I'll make it a priority
scachat 0:31e91bb0ef3c 186
scachat 0:31e91bb0ef3c 187 int ticks_forward = 3;
scachat 0:31e91bb0ef3c 188 // We need to take those values here, and then use those instead of the live values, because using the live values inside the loop can break things ( infinite loops etc ... )
scachat 0:31e91bb0ef3c 189 double next_stepper_rate = stepper->trapezoid_adjusted_rate;
scachat 0:31e91bb0ef3c 190 double step_events_completed = (double(double(stepper->step_events_completed)/double(1<<16)));
scachat 0:31e91bb0ef3c 191 double position = ( this->current_position - this->start_position ) * this->direction ;
scachat 0:31e91bb0ef3c 192 double length = fabs( this->start_position - this->target_position );
scachat 0:31e91bb0ef3c 193 double last_ratio = -1;
scachat 0:31e91bb0ef3c 194
scachat 0:31e91bb0ef3c 195 // Do the startegy above, but if it does not work, look a bit further and try again, and again ...
scachat 0:31e91bb0ef3c 196 while(1){
scachat 0:31e91bb0ef3c 197
scachat 0:31e91bb0ef3c 198 // Find the position where we should be at the next tick
scachat 0:31e91bb0ef3c 199 double next_ratio = double( step_events_completed + ( next_stepper_rate / 60 / ((double(stepper->acceleration_ticks_per_second)/ticks_forward)) ) ) / double( this->current_block->steps_event_count );
scachat 0:31e91bb0ef3c 200 double next_relative_position = ( length * next_ratio );
scachat 0:31e91bb0ef3c 201
scachat 0:31e91bb0ef3c 202 // Advance
scachat 0:31e91bb0ef3c 203 // TODO: Proper advance configuration
scachat 0:31e91bb0ef3c 204 double advance = double(next_stepper_rate) * ( 0.00001 * 0.15 ) * 0.4 ;
scachat 0:31e91bb0ef3c 205 //double advance = 0;
scachat 0:31e91bb0ef3c 206 next_relative_position += ( advance );
scachat 0:31e91bb0ef3c 207
scachat 0:31e91bb0ef3c 208 // TODO : all of those "if->return" is very hacky, we should do the math in a way where most of those don't happen, but that requires doing tons of drawing ...
scachat 0:31e91bb0ef3c 209 if( last_ratio == next_ratio ){ this->acceleration_lock = false; return 0; }else{ last_ratio = next_ratio; }
scachat 0:31e91bb0ef3c 210 if( next_ratio == 0 || next_ratio > 1 ){ this->acceleration_lock = false; return 0; }
scachat 0:31e91bb0ef3c 211 if( ticks_forward > 1000 ){ this->acceleration_lock = false; return 0; } // This is very ugly
scachat 0:31e91bb0ef3c 212
scachat 0:31e91bb0ef3c 213 // Hack : We have not looked far enough, we compute how far ahead we must look to get a relevant value
scachat 0:31e91bb0ef3c 214 if( position > next_relative_position ){
scachat 0:31e91bb0ef3c 215 double far_back = position - next_relative_position;
scachat 0:31e91bb0ef3c 216 double far_back_ratio = far_back / length;
scachat 0:31e91bb0ef3c 217 double move_duration = double( this->current_block->steps_event_count ) / ( double(next_stepper_rate) / 60 ) ;
scachat 0:31e91bb0ef3c 218 double ticks_in_a_move = floor( stepper->acceleration_ticks_per_second * move_duration +0.5);
scachat 0:31e91bb0ef3c 219 double ratio_per_tick = 1 / ticks_in_a_move;
scachat 0:31e91bb0ef3c 220 double ticks_to_equilibrium = ceil(far_back_ratio / ratio_per_tick) + 1;
scachat 0:31e91bb0ef3c 221 ticks_forward += ticks_to_equilibrium;
scachat 0:31e91bb0ef3c 222 // Because this is a loop, and we can be interrupted by the stepping interrupt, if that interrupt changes block, the new block may not be solo, and we may get trapped into an infinite loop
scachat 0:31e91bb0ef3c 223 if( this->mode != FOLLOW ){ this->acceleration_lock = false; return 0; }
scachat 0:31e91bb0ef3c 224 continue;
scachat 0:31e91bb0ef3c 225 }
scachat 0:31e91bb0ef3c 226
scachat 0:31e91bb0ef3c 227 // Finally, compute the speed to get to that next position
scachat 0:31e91bb0ef3c 228 double next_absolute_position = this->start_position + ( this->direction * next_relative_position );
scachat 0:31e91bb0ef3c 229 double steps_to_next_tick = ( next_relative_position - position ) * this->steps_per_millimeter;
scachat 0:31e91bb0ef3c 230 double speed_to_next_tick = steps_to_next_tick / ( 1 / double(double(this->kernel->stepper->acceleration_ticks_per_second) / ticks_forward) );
scachat 0:31e91bb0ef3c 231
scachat 0:31e91bb0ef3c 232 // Change stepping speed
scachat 0:31e91bb0ef3c 233 this->set_speed( speed_to_next_tick );
scachat 0:31e91bb0ef3c 234
scachat 0:31e91bb0ef3c 235 this->acceleration_lock = false;
scachat 0:31e91bb0ef3c 236 return 0;
scachat 0:31e91bb0ef3c 237 }
scachat 0:31e91bb0ef3c 238 }
scachat 0:31e91bb0ef3c 239
scachat 0:31e91bb0ef3c 240 this->acceleration_lock = false;
scachat 0:31e91bb0ef3c 241 return 0;
scachat 0:31e91bb0ef3c 242 }
scachat 0:31e91bb0ef3c 243
scachat 0:31e91bb0ef3c 244 // Convenience function to set stepping speed
scachat 0:31e91bb0ef3c 245 void Extruder::set_speed( int steps_per_second ){
scachat 0:31e91bb0ef3c 246
scachat 0:31e91bb0ef3c 247 if( steps_per_second < 10 ){ steps_per_second = 10; }
scachat 0:31e91bb0ef3c 248
scachat 0:31e91bb0ef3c 249 // TODO : Proper limit config value
scachat 0:31e91bb0ef3c 250 if( steps_per_second > (this->feed_rate*double(this->steps_per_millimeter))/60 ){
scachat 0:31e91bb0ef3c 251 steps_per_second = (this->feed_rate*double(this->steps_per_millimeter))/60;
scachat 0:31e91bb0ef3c 252 }
scachat 0:31e91bb0ef3c 253
scachat 0:31e91bb0ef3c 254 this->counter_increment = int(floor(double(1<<16)/double(this->kernel->stepper->base_stepping_frequency / steps_per_second)));
scachat 0:31e91bb0ef3c 255
scachat 0:31e91bb0ef3c 256 }
scachat 0:31e91bb0ef3c 257
scachat 0:31e91bb0ef3c 258 inline uint32_t Extruder::stepping_tick(uint32_t dummy){
scachat 0:31e91bb0ef3c 259 if( this->paused ){ return 0; }
scachat 0:31e91bb0ef3c 260
scachat 0:31e91bb0ef3c 261 this->step_counter += this->counter_increment;
scachat 0:31e91bb0ef3c 262 if( this->step_counter > 1<<16 ){
scachat 0:31e91bb0ef3c 263 this->step_counter -= 1<<16;
scachat 0:31e91bb0ef3c 264
scachat 0:31e91bb0ef3c 265 // If we still have steps to do
scachat 0:31e91bb0ef3c 266 // TODO: Step using the same timer as the robot, and count steps instead of absolute float position
scachat 0:31e91bb0ef3c 267 if( ( this->current_position < this->target_position && this->direction == 1 ) || ( this->current_position > this->target_position && this->direction == -1 ) ){
scachat 0:31e91bb0ef3c 268 this->current_position += (double(double(1)/double(this->steps_per_millimeter)))*double(this->direction);
scachat 0:31e91bb0ef3c 269 this->dir_pin->set((this->direction > 0) ? 1 : 0);
scachat 0:31e91bb0ef3c 270 this->step_pin->set(1);
scachat 0:31e91bb0ef3c 271 }else{
scachat 0:31e91bb0ef3c 272 // Move finished
scachat 0:31e91bb0ef3c 273 if( this->mode == SOLO && this->current_block != NULL ){
scachat 0:31e91bb0ef3c 274 // In follow mode, the robot takes and releases the block, in solo mode we do
scachat 0:31e91bb0ef3c 275 this->current_block->release();
scachat 0:31e91bb0ef3c 276 }
scachat 0:31e91bb0ef3c 277 }
scachat 0:31e91bb0ef3c 278 }
scachat 0:31e91bb0ef3c 279 return 0;
scachat 0:31e91bb0ef3c 280 }
scachat 0:31e91bb0ef3c 281
scachat 0:31e91bb0ef3c 282 uint32_t Extruder::reset_step_pin(uint32_t dummy){
scachat 0:31e91bb0ef3c 283 this->step_pin->set(0);
scachat 0:31e91bb0ef3c 284 return 0;
scachat 0:31e91bb0ef3c 285 }