move e axis when filling. fix bug that prevented states showing their heading. fix encoder rpm scaling.

include/config.h

 #define Z_AXIS_EPSILON 1.0 // in mm
 #define E_AXIS_EPSILON 50.0 // TODO
 
-#define ENCODER_RPM_VALUE_FACTOR 0.5
+#define ENCODER_RPM_VALUE_FACTOR 4.2
 #define IDLE_TIMEOUT (5UL * 60UL * 1000UL) // ms, 0 to disable
 
 // TimerOne freq for steppers

src/statemachine.cpp

 void State::updateText(void) {
     lcd_clear();
 
-    if (heading != NULL) {
+    if ((heading != NULL) && (strlen(heading) > 0)) {
         lcd_set_heading(heading);
-    } else if (getTitle() != NULL) {
+    } else if ((getTitle() != NULL) && (strlen(getTitle()) > 0)) {
         lcd_set_heading(getTitle());
     }
 
-    if (text != NULL) {
+    if ((text != NULL) && (strlen(text) > 0)) {
         lcd_set_text(text);
     }
 }

src/states.cpp

 State sm_disp_run_z_travel = State(&sm_disp_go);
 State sm_disp_run_xy_travel = State(&sm_disp_run_z_travel);
 State sm_disp_run_z_disp = State(&sm_disp_run_xy_travel);
+// TODO add state for extrusion_bottom_wait
 State sm_disp_run = State(&sm_disp_run_z_disp);
-State sm_disp_done = State(&sm_disp_run);
+State sm_disp_run_back = State(&sm_disp_run);
+// TODO add state for extrusion_top_wait
+State sm_disp_done = State(&sm_disp_run_back);
+State sm_disp_really_done = State(&sm_disp_done);
 
 State sm_new_preset = State(&sm_auto);
 State sm_wiz_move = State(&sm_new_preset);
     sm_disp_run_z_travel.setTitle("Z Travel");
     sm_disp_run_z_travel.onEnter([]() {
         // TODO move z to travel height
+
+        // print status text
+        strbuf = String(F("Filling ")) + String(dispense_index + 1);
+        strbuf += String(F(" / ")) + String(data_preset(preset_selection)->count_x * data_preset(preset_selection)->count_y);
+        sm_disp_run_z_travel.setText(strbuf.c_str());
     });
     sm_disp_run_z_travel.whenIn([](StateMachineInput smi) {
-        // TODO update status screen
-
         if (smi.all_motors_done) {
             states_go_to(&sm_disp_run_xy_travel);
         }
 
         steppers_move_x(x_pos);
         steppers_move_y(y_pos);
+
+        // print status text
+        strbuf = String(F("Filling ")) + String(dispense_index + 1);
+        strbuf += String(F(" / ")) + String(data_preset(preset_selection)->count_x * data_preset(preset_selection)->count_y);
+        sm_disp_run_xy_travel.setText(strbuf.c_str());
     });
     sm_disp_run_xy_travel.whenIn([](StateMachineInput smi) {
-        // TODO update status screen
-
         if (smi.all_motors_done) {
             states_go_to(&sm_disp_run_z_disp);
         }
 
     sm_disp_run_z_disp.setTitle("Z Dispense");
     sm_disp_run_z_disp.onEnter([]() {
-        // TODO move z to dispension height
+        // TODO move z to bottom_z
+
+        // print status text
+        strbuf = String(F("Filling ")) + String(dispense_index + 1);
+        strbuf += String(F(" / ")) + String(data_preset(preset_selection)->count_x * data_preset(preset_selection)->count_y);
+        sm_disp_run_z_disp.setText(strbuf.c_str());
     });
     sm_disp_run_z_disp.whenIn([](StateMachineInput smi) {
-        // TODO update status screen
-
         if (smi.all_motors_done) {
             states_go_to(&sm_disp_run);
         }
 
     sm_disp_run.setTitle("Dispensing");
     sm_disp_run.onEnter([]() {
-        // TODO start dispensing with e and moving z up
+        // TODO move z to top_z
+
+        // move e to extrusion_length (bottom of press)
+        steppers_move_e(data_preset(preset_selection)->extrusion_length);
+
+        // print status text
+        strbuf = String(F("Filling ")) + String(dispense_index + 1);
+        strbuf += String(F(" / ")) + String(data_preset(preset_selection)->count_x * data_preset(preset_selection)->count_y);
+        sm_disp_run.setText(strbuf.c_str());
     });
     sm_disp_run.whenIn([](StateMachineInput smi) {
-        // TODO update status screen
+        if (smi.all_motors_done) {
+            states_go_to(&sm_disp_run_back);
+        }
+    });
+
+    sm_disp_run_back.setTitle("Dispensing Back");
+    sm_disp_run_back.onEnter([]() {
+        // move e back to 0 (top)
+        steppers_move_e(0.0);
 
+        // print status text
+        strbuf = String(F("Filling ")) + String(dispense_index + 1);
+        strbuf += String(F(" / ")) + String(data_preset(preset_selection)->count_x * data_preset(preset_selection)->count_y);
+        sm_disp_run_back.setText(strbuf.c_str());
+    });
+    sm_disp_run_back.whenIn([](StateMachineInput smi) {
         if (smi.all_motors_done) {
             dispense_index++;
             if (dispense_index >= (dispense_count + dispense_off)) {
     });
 
     sm_disp_done.setTitle("Finished");
+    sm_disp_done.setText("Moving to take-out position.");
     sm_disp_done.onEnter([]() {
-        // TODO show end screen, "stats"
+        steppers_move_x(X_AXIS_MAX - 20.0);
+        steppers_move_y(Y_AXIS_MAX - 20.0);
+        // TODO move z to travel height
     });
     sm_disp_done.whenIn([](StateMachineInput smi) {
+        if (smi.click || smi.all_motors_done) {
+            states_go_to(&sm_disp_really_done);
+        }
+    });
+
+    sm_disp_really_done.setTitle("Finished");
+    sm_disp_really_done.setText("Please remove tray and click to continue.");
+    sm_disp_really_done.onEnter([]() {
+        // "stop" steppers without killing them
+        steppers_move_x(steppers_current_pos(X_AXIS));
+        steppers_move_y(steppers_current_pos(Y_AXIS));
+    });
+    sm_disp_really_done.whenIn([](StateMachineInput smi) {
         if (smi.click) {
             states_go_to(&sm_auto);
         }