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- #include <Arduino.h>
-
- #include "config.h"
- #include "config_pins.h"
- #include "data.h"
- #include "common.h"
- #include "lcd.h"
- #include "steppers.h"
- #include "statemachine.h"
- #include "states.h"
-
- //#define DISABLE_HOMING_STATE
- #define ENABLE_MOVEMENT_TEST_STATE
- #define ENABLE_INPUT_TEST_STATE
-
- // --------------------------------------
-
- int preset_selection = 0, dispense_off = 0, dispense_count = 0, dispense_index = 0;
- float move_pos_x = 0.0, move_pos_y = 0.0, move_pos_z = 0.0, move_pos_e = 0.0;
-
- State sm_ask_homing = State();
- State sm_do_homing = State(&sm_ask_homing);
- StateMenu sm_menu = StateMenu(&sm_do_homing, false);
-
- StateMenu sm_auto = StateMenu(&sm_menu);
- StateDynamicMenu sm_presets = StateDynamicMenu(&sm_auto);
-
- StateValue<int> sm_disp_off = StateValue<int>(&sm_presets, dispense_off, 1, 1);
- StateValue<int> sm_disp_cnt = StateValue<int>(&sm_disp_off, dispense_count, 1, 1);
- State sm_disp_go = State(&sm_disp_cnt);
- 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);
- State sm_disp_run = State(&sm_disp_run_z_disp);
- State sm_disp_done = State(&sm_disp_run);
-
- State sm_new_preset = State(&sm_auto);
- State sm_wiz_move = State(&sm_new_preset);
- StateValues<uint8_t, 2> sm_wiz_count = StateValues<uint8_t, 2>(&sm_wiz_move);
- StateValues<float, 2> sm_wiz_first_pos = StateValues<float, 2>(&sm_wiz_count);
- StateValues<float, 2> sm_wiz_last_pos = StateValues<float, 2>(&sm_wiz_first_pos);
- // TODO move z above container
- // TODO move z inside bottom container
- // TODO move z inside top container
- // TODO move to extruder depth
- State sm_new_preset_done = State(&sm_wiz_last_pos);
-
- StateDynamicMenu sm_mod_preset = StateDynamicMenu(&sm_auto);
- // TODO modify
-
- StateDynamicMenu sm_del_preset = StateDynamicMenu(&sm_auto);
- // TODO delete
-
- StateMenu sm_move = StateMenu(&sm_menu);
- StateValue<float> sm_move_x = StateValue<float>(&sm_move, move_pos_x, X_AXIS_MIN, X_AXIS_MAX);
- StateValue<float> sm_move_y = StateValue<float>(&sm_move, move_pos_y, Y_AXIS_MIN, Y_AXIS_MAX);
- StateValue<float> sm_move_z = StateValue<float>(&sm_move, move_pos_z, Z_AXIS_MIN, Z_AXIS_MAX);
- StateValue<float> sm_move_e = StateValue<float>(&sm_move, move_pos_e, E_AXIS_MIN, E_AXIS_MAX);
-
- State sm_disable_steppers = State(&sm_menu);
-
- StateMenu sm_config = StateMenu(&sm_menu);
- State sm_conf_load = State(&sm_config);
- State sm_conf_save = State(&sm_config);
- State sm_conf_clear = State(&sm_config);
- StateValue<float> sm_conf_speed_xy = StateValue<float>(&sm_config, data_options()->speed_x, 1.0, XY_MAX_SPEED);
- StateValue<float> sm_conf_speed_z = StateValue<float>(&sm_config, data_options()->speed_z, 1.0, Z_MAX_SPEED);
- StateValue<float> sm_conf_speed_e = StateValue<float>(&sm_config, data_options()->speed_e, 1.0, E_MAX_SPEED);
- StateValue<float> sm_conf_accel_xy = StateValue<float>(&sm_config, data_options()->accel_x, 1.0, XY_MAX_ACCEL);
- StateValue<float> sm_conf_accel_z = StateValue<float>(&sm_config, data_options()->accel_z, 1.0, Z_MAX_ACCEL);
- StateValue<float> sm_conf_accel_e = StateValue<float>(&sm_config, data_options()->accel_e, 1.0, E_MAX_ACCEL);
-
- State sm_error = State(NULL);
-
- #if defined(ENABLE_MOVEMENT_TEST_STATE) || defined(ENABLE_INPUT_TEST_STATE)
- StateMenu sm_debug = StateMenu(&sm_menu);
- #endif
-
- #ifdef ENABLE_MOVEMENT_TEST_STATE
- StateMenu sm_movement_test = StateMenu(&sm_debug);
- State sm_move_xy_test = State(&sm_movement_test);
- State sm_move_x_test = State(&sm_movement_test);
- State sm_move_y_test = State(&sm_movement_test);
- State sm_move_z_test = State(&sm_movement_test);
- State sm_move_e_test = State(&sm_movement_test);
- #endif // ENABLE_MOVEMENT_TEST_STATE
-
- #ifdef ENABLE_INPUT_TEST_STATE
- State sm_input_test = State(&sm_debug);
- #endif // ENABLE_INPUT_TEST_STATE
-
- // --------------------------------------
-
- State *current_state = NULL;
- String strbuf;
- struct data_config_preset wizard_preset = { .count_x = 1, .count_y = 1 };
- float wizard_first_x = 0.0, wizard_first_y = 0.0;
- float wizard_last_x = 0.0, wizard_last_y = 0.0;
- unsigned long last_state_change = 0, last_input = 0;
-
- void states_init(void) {
- // ----------------------------------
-
- sm_ask_homing.setTitle("Ask for homing");
- sm_ask_homing.setHeading("Homing Required!");
- sm_ask_homing.setText("Click to home all four axes.");
-
- // ----------------------------------
-
- sm_do_homing.setTitle("Home all axes");
- sm_do_homing.setHeading("Homing...");
-
- sm_do_homing.onEnter([]() {
- #ifndef DISABLE_HOMING_STATE
- steppers_start_homing();
- #endif // DISABLE_HOMING_STATE
- });
-
- sm_do_homing.whenIn([](StateMachineInput smi) {
- #ifndef DISABLE_HOMING_STATE
- if (smi.all_motors_done) {
- if (steppers_homed()) {
- #endif // DISABLE_HOMING_STATE
-
- async_beep(HOMING_BEEP_TIME, HOMING_BEEP_FREQ);
- states_go_to(&sm_menu);
-
- #ifndef DISABLE_HOMING_STATE
- }
- }
- #endif // DISABLE_HOMING_STATE
-
- static char last_axis = ' ';
- char axis = steppers_homing_axis();
- if ((axis != ' ') && (axis != last_axis)) {
- last_axis = axis;
- strbuf = String(F("Currently homing ")) + axis + String(F(" axis"));
- sm_do_homing.setText(strbuf.c_str());
- sm_do_homing.updateText();
- }
- });
-
- // ----------------------------------
-
- sm_menu.setTitle("Main Menu");
- sm_menu.addChild(&sm_do_homing, 1);
-
- // ----------------------------------
-
- sm_move.setTitle("Move Axis");
-
- sm_move_x.setTitle("X Axis");
- sm_move_x.onEnter([]() {
- move_pos_x = steppers_pos_x();
- });
- sm_move_x.onLiveUpdate([](float v) {
- steppers_move_x(v);
- });
-
- sm_move_y.setTitle("Y Axis");
- sm_move_y.onEnter([]() {
- move_pos_y = steppers_pos_y();
- });
- sm_move_y.onLiveUpdate([](float v) {
- steppers_move_y(v);
- });
-
- sm_move_z.setTitle("Z Axis");
- sm_move_z.onEnter([]() {
- move_pos_z = steppers_pos_z();
- });
- sm_move_z.onLiveUpdate([](float v) {
- steppers_move_z(v);
- });
-
- sm_move_e.setTitle("E Axis");
- sm_move_e.onEnter([]() {
- move_pos_e = steppers_pos_e();
- });
- sm_move_e.onLiveUpdate([](float v) {
- steppers_move_e(v);
- });
-
- sm_disable_steppers.setTitle("Disable Steppers");
- sm_disable_steppers.onEnter([]() {
- steppers_kill();
- states_go_to(&sm_ask_homing);
- });
-
- // ----------------------------------
-
- sm_auto.setTitle("Filling Menu");
-
- auto preset_name_func = [](int i) {
- strbuf = String(i + 1);
- strbuf += String(F(" ("));
- strbuf += String(data_preset(i)->count_x);
- strbuf += String(F("*"));
- strbuf += String(data_preset(i)->count_y);
- strbuf += String(F(" / "));
- strbuf += String(data_preset(i)->distance_x);
- strbuf += String(F("*"));
- strbuf += String(data_preset(i)->distance_y);
- strbuf += String(F(")"));
- return strbuf.c_str();
- };
-
- sm_presets.setTitle("Use Preset");
- sm_presets.setPrefix("Preset ");
- sm_presets.dataCount([]() {
- return (int)data_preset_count();
- });
- sm_presets.dataGet(preset_name_func);
- sm_presets.dataCall([](int i) {
- preset_selection = i;
- states_go_to(&sm_disp_off);
- });
-
- sm_disp_off.setTitle("Offset");
- sm_disp_off.setText("Where to start dispensing?");
- sm_disp_off.onEnter([]() {
- dispense_off = 1;
- sm_disp_off.setMax(data_preset(preset_selection)->count_x * data_preset(preset_selection)->count_y);
- });
-
- sm_disp_cnt.setTitle("Count");
- sm_disp_cnt.setText("How many to fill?");
- sm_disp_cnt.onEnter([]() {
- dispense_count = data_preset(preset_selection)->count_x * data_preset(preset_selection)->count_y - (dispense_off - 1);
- sm_disp_cnt.setMax(dispense_count);
- });
-
- sm_disp_go.setTitle("Confirm");
- sm_disp_go.onEnter([]() {
- dispense_off -= 1;
- strbuf = String(F("Filling from ")) + String(dispense_off + 1);
- strbuf += String(F(" to ")) + String(dispense_off + dispense_count);
- strbuf += String(F("!\nIs this ok?"));
- sm_disp_go.setText(strbuf.c_str());
-
- dispense_index = dispense_off;
-
- // TODO allow yes/no choice?
- });
-
- sm_disp_run_z_travel.setTitle("Z Travel");
- sm_disp_run_z_travel.onEnter([]() {
- // TODO move z to travel height
- });
- 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);
- }
- });
-
- sm_disp_run_xy_travel.setTitle("XY Movement");
- sm_disp_run_xy_travel.onEnter([]() {
- int y = dispense_index / data_preset(preset_selection)->count_x;
- int x = dispense_index % data_preset(preset_selection)->count_x;
-
- Serial.print(F("xy_travel: index="));
- Serial.print(dispense_index);
- Serial.print(F(" x="));
- Serial.print(x);
- Serial.print(F(" y="));
- Serial.println(y);
-
- float x_pos = data_preset(preset_selection)->offset_x + x * data_preset(preset_selection)->distance_x;
- float y_pos = data_preset(preset_selection)->offset_y + y * data_preset(preset_selection)->distance_y;
-
- steppers_move_x(x_pos);
- steppers_move_y(y_pos);
- });
- 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
- });
- 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
- });
- sm_disp_run.whenIn([](StateMachineInput smi) {
- // TODO update status screen
-
- if (smi.all_motors_done) {
- dispense_index++;
- if (dispense_index >= (dispense_count + dispense_off)) {
- states_go_to(&sm_disp_done);
- } else {
- states_go_to(&sm_disp_run_z_travel);
- }
- }
- });
-
- sm_disp_done.setTitle("Finished");
- sm_disp_done.onEnter([]() {
- // TODO show end screen, "stats"
- });
- sm_disp_done.whenIn([](StateMachineInput smi) {
- if (smi.click) {
- states_go_to(&sm_auto);
- }
- });
-
- sm_new_preset.setTitle("Add new Preset");
- sm_new_preset.setHeading("Preset Wizard");
- sm_new_preset.setText("Moving axes into initial positions. Click to continue.");
-
- sm_wiz_move.setTitle("Initial Movement");
- sm_wiz_move.onEnter([]() {
- steppers_start_homing();
- });
- sm_wiz_move.whenIn([](StateMachineInput smi) {
- #ifndef DISABLE_HOMING_STATE
- if (smi.all_motors_done) {
- if (steppers_homed()) {
- #endif // DISABLE_HOMING_STATE
- states_go_to(&sm_wiz_count);
- #ifndef DISABLE_HOMING_STATE
- }
- }
- #endif // DISABLE_HOMING_STATE
-
- static char last_axis = ' ';
- char axis = steppers_homing_axis();
- if ((axis != ' ') && (axis != last_axis)) {
- last_axis = axis;
- strbuf = String(F("Currently homing ")) + axis + String(F(" axis"));
- sm_wiz_move.setText(strbuf.c_str());
- sm_wiz_move.updateText();
- }
- });
-
- sm_wiz_count.setTitle("Container Count");
- sm_wiz_count.setData(0, "X: ", &wizard_preset.count_x, 1, 50);
- sm_wiz_count.setData(1, "Y: ", &wizard_preset.count_y, 1, 100);
-
- sm_wiz_first_pos.setTitle("First Container Position");
- sm_wiz_first_pos.setData(0, "X: ", &wizard_first_x, X_AXIS_MIN, X_AXIS_MAX);
- sm_wiz_first_pos.setData(1, "Y: ", &wizard_first_y, Y_AXIS_MIN, Y_AXIS_MAX);
- sm_wiz_first_pos.onEnter([]() {
- wizard_first_x = steppers_current_pos(0);
- wizard_first_y = steppers_current_pos(1);
- });
- sm_wiz_first_pos.onLiveUpdate([](size_t i, float v) {
- if (i == 0) {
- steppers_move_x(v);
- } else {
- steppers_move_y(v);
- }
- });
- sm_wiz_first_pos.onUpdate([](size_t i, float v) {
- if (i == 0) {
- wizard_preset.offset_x = v;
- } else {
- wizard_preset.offset_y = v;
- }
- });
-
- sm_wiz_last_pos.setTitle("Last Container Position");
- sm_wiz_last_pos.setData(0, "X: ", &wizard_last_x, X_AXIS_MIN, X_AXIS_MAX);
- sm_wiz_last_pos.setData(1, "Y: ", &wizard_last_y, Y_AXIS_MIN, Y_AXIS_MAX);
- sm_wiz_last_pos.onEnter([]() {
- wizard_last_x = steppers_current_pos(0);
- wizard_last_y = steppers_current_pos(1);
- });
- sm_wiz_last_pos.onLiveUpdate([](size_t i, float v) {
- if (i == 0) {
- steppers_move_x(v);
- } else {
- steppers_move_y(v);
- }
- });
- sm_wiz_last_pos.onUpdate([](size_t i, float v) {
- if (i == 0) {
- wizard_preset.distance_x = (v - wizard_preset.offset_x) / wizard_preset.count_x;
- } else {
- wizard_preset.distance_y = (v - wizard_preset.offset_y) / wizard_preset.count_y;
- }
- });
-
- sm_new_preset_done.setTitle("Preset Wizard Done");
- sm_new_preset_done.setHeading("Preset Wizard Done");
- sm_new_preset_done.onEnter([]() {
- if (!data_preset_add(wizard_preset)) {
- strbuf = String(data_eeprom_error()) + F(" Error adding preset!");
- sm_new_preset_done.setText(strbuf.c_str());
- } else {
- strbuf = F("Preset ");
- strbuf += String(data_preset_count());
- strbuf += F(" has been added! Don't forget to store config to EEPROM to keep it.");
- sm_new_preset_done.setText(strbuf.c_str());
- }
- });
- sm_new_preset_done.whenIn([](StateMachineInput smi) {
- if (smi.click) {
- states_go_to(&sm_auto);
- }
- });
-
- // TODO
- sm_mod_preset.setTitle("Modify Preset");
- sm_mod_preset.setPrefix("Preset ");
- sm_mod_preset.dataCount([]() {
- return (int)data_preset_count();
- });
- sm_mod_preset.dataGet(preset_name_func);
-
- sm_del_preset.setTitle("Delete Preset");
- sm_del_preset.setPrefix("Preset ");
- sm_del_preset.dataCount([]() {
- return (int)data_preset_count();
- });
- sm_del_preset.dataGet(preset_name_func);
- sm_del_preset.dataCall([](int i) {
- data_preset_remove(i);
- states_go_to(&sm_auto);
- });
-
- // ----------------------------------
-
- sm_config.setTitle("Configuration");
-
- sm_conf_load.setTitle("Load from EEPROM");
- sm_conf_load.setHeading("Load from EEPROM");
- sm_conf_load.onEnter([]() {
- if (!data_eeprom_read()) {
- strbuf = String(data_eeprom_error()) + " Error reading configuration!";
- sm_conf_load.setText(strbuf.c_str());
- } else {
- sm_conf_load.setText("Configuration read successful!");
-
- steppers_set_speed_x(data_options()->speed_x);
- steppers_set_accel_x(data_options()->accel_x);
- steppers_set_speed_y(data_options()->speed_y);
- steppers_set_accel_y(data_options()->accel_y);
- steppers_set_speed_z(data_options()->speed_z);
- steppers_set_accel_z(data_options()->accel_z);
- steppers_set_speed_e(data_options()->speed_e);
- steppers_set_accel_e(data_options()->accel_e);
- }
- });
-
- sm_conf_save.setTitle("Store to EEPROM");
- sm_conf_save.setHeading("Store to EEPROM");
- sm_conf_save.setText("Configuration written to EEPROM!");
- sm_conf_save.onEnter([]() {
- data_eeprom_write();
- });
-
- sm_conf_clear.setTitle("Clear EEPROM & RAM");
- sm_conf_clear.setHeading("Clear EEPROM & RAM");
- sm_conf_clear.setText("EEPROM and RAM Configuration cleared!");
- sm_conf_clear.onEnter([]() {
- data_clear();
- data_eeprom_write();
-
- // reapply default conf values
- steppers_set_speed_x(data_options()->speed_x);
- steppers_set_speed_y(data_options()->speed_y);
- steppers_set_speed_z(data_options()->speed_z);
- steppers_set_speed_e(data_options()->speed_e);
- steppers_set_accel_x(data_options()->accel_x);
- steppers_set_accel_y(data_options()->accel_y);
- steppers_set_accel_z(data_options()->accel_z);
- steppers_set_accel_e(data_options()->accel_e);
- });
-
- sm_conf_speed_xy.setTitle("XY Speed");
- sm_conf_speed_xy.onUpdate([](float v) {
- steppers_set_speed_x(v);
- steppers_set_speed_y(v);
- });
-
- sm_conf_speed_z.setTitle("Z Speed");
- sm_conf_speed_z.onUpdate([](float v) {
- steppers_set_speed_z(v);
- });
-
- sm_conf_speed_e.setTitle("E Speed");
- sm_conf_speed_e.onUpdate([](float v) {
- steppers_set_speed_e(v);
- });
-
- sm_conf_accel_xy.setTitle("XY Acceleration");
- sm_conf_accel_xy.onUpdate([](float v) {
- steppers_set_accel_x(v);
- steppers_set_accel_y(v);
- });
-
- sm_conf_accel_z.setTitle("Z Acceleration");
- sm_conf_accel_z.onUpdate([](float v) {
- steppers_set_accel_z(v);
- });
-
- sm_conf_accel_e.setTitle("E Acceleration");
- sm_conf_accel_e.onUpdate([](float v) {
- steppers_set_accel_e(v);
- });
-
- sm_error.setChild(&sm_ask_homing);
- sm_error.setTitle("Axis Error");
- sm_error.setHeading("Axis Error");
- sm_error.setText("An unknown error occured!");
-
- #if defined(ENABLE_MOVEMENT_TEST_STATE) || defined(ENABLE_INPUT_TEST_STATE)
- sm_debug.setTitle("Debug Menu");
- #endif
-
- #ifdef ENABLE_MOVEMENT_TEST_STATE
- sm_movement_test.setTitle("Movement Test");
-
- sm_move_xy_test.setTitle("XY Axes");
- sm_move_xy_test.setHeading("XY Move Test");
- sm_move_xy_test.setText("Moving axis through full range with selected speed.");
- sm_move_xy_test.whenIn([](StateMachineInput smi) {
- static bool sx = false, sy = false;
- if (smi.motor_done[X_AXIS]) {
- sx = !sx;
- steppers_move_x(sx ? (X_AXIS_MAX - X_AXIS_EPSILON) : (X_AXIS_MIN + X_AXIS_EPSILON));
- }
- if (smi.motor_done[Y_AXIS]) {
- sy = !sy;
- steppers_move_y(sy ? (Y_AXIS_MAX - Y_AXIS_EPSILON) : (Y_AXIS_MIN + Y_AXIS_EPSILON));
- }
- if (smi.click) {
- states_go_to(&sm_movement_test);
- }
- });
-
- sm_move_x_test.setTitle("X Axis");
- sm_move_x_test.setHeading("X Move Test");
- sm_move_x_test.setText("Moving axis through full range with selected speed.");
- sm_move_x_test.whenIn([](StateMachineInput smi) {
- static bool s = false;
- if (smi.motor_done[X_AXIS]) {
- s = !s;
- steppers_move_x(s ? (X_AXIS_MAX - X_AXIS_EPSILON) : (X_AXIS_MIN + X_AXIS_EPSILON));
- }
- if (smi.click) {
- states_go_to(&sm_movement_test);
- }
- });
-
- sm_move_y_test.setTitle("Y Axis");
- sm_move_y_test.setHeading("Y Move Test");
- sm_move_y_test.setText("Moving axis through full range with selected speed.");
- sm_move_y_test.whenIn([](StateMachineInput smi) {
- static bool s = false;
- if (smi.motor_done[Y_AXIS]) {
- s = !s;
- steppers_move_y(s ? (Y_AXIS_MAX - Y_AXIS_EPSILON) : (Y_AXIS_MIN + Y_AXIS_EPSILON));
- }
- if (smi.click) {
- states_go_to(&sm_movement_test);
- }
- });
-
- sm_move_z_test.setTitle("Z Axis");
- sm_move_z_test.setHeading("Z Move Test");
- sm_move_z_test.setText("Moving axis through full range with selected speed.");
- sm_move_z_test.whenIn([](StateMachineInput smi) {
- static bool s = false;
- if (smi.motor_done[Z_AXIS]) {
- s = !s;
- steppers_move_z(s ? (Z_AXIS_MAX - Z_AXIS_EPSILON) : (Z_AXIS_MIN + Z_AXIS_EPSILON));
- }
- if (smi.click) {
- states_go_to(&sm_movement_test);
- }
- });
-
- sm_move_e_test.setTitle("E Axis");
- sm_move_e_test.setHeading("E Move Test");
- sm_move_e_test.setText("Moving axis through full range with selected speed.");
- sm_move_e_test.whenIn([](StateMachineInput smi) {
- static bool s = false;
- if (smi.motor_done[E_AXIS]) {
- s = !s;
- steppers_move_e(s ? (E_AXIS_MAX - E_AXIS_EPSILON) : (E_AXIS_MIN + E_AXIS_EPSILON));
- }
- if (smi.click) {
- states_go_to(&sm_movement_test);
- }
- });
- #endif // ENABLE_MOVEMENT_TEST_STATE
-
- #ifdef ENABLE_INPUT_TEST_STATE
- sm_input_test.setTitle("Input Test");
- sm_input_test.setHeading("Endstop Test");
-
- sm_input_test.whenIn([](StateMachineInput smi) {
- String s = "Endstops: ";
- for (int i = 0; i < AXIS_COUNT; i++) {
- if (steppers_home_switch(i)) {
- s += '1';
- } else {
- s += '0';
- }
- if (i < 3) {
- s += ' ';
- }
- }
- if (s != strbuf) {
- strbuf = s;
- sm_input_test.setText(strbuf.c_str());
- sm_input_test.updateText();
- }
- });
- #endif // ENABLE_INPUT_TEST_STATE
-
- // ----------------------------------
-
- states_go_to(&sm_ask_homing);
- }
-
- void states_run(StateMachineInput smi) {
- if (smi.click || smi.kill || (smi.encoder != 0)) {
- last_input = millis();
- }
-
- if (smi.click) {
- async_beep(ENCODER_CLICK_BEEP_TIME, ENCODER_CLICK_BEEP_FREQ);
- }
-
- if (smi.kill) {
- steppers_kill();
- Serial.println(F("Kill button pressed!"));
- blocking_beep(KILL_BEEP_TIME, KILL_BEEP_FREQ, KILL_BEEP_REPEAT - 1);
- states_go_to(&sm_ask_homing);
- return;
- }
-
- #if (IDLE_TIMEOUT > 0)
- unsigned long last_time = max(last_input, last_state_change);
- if ((millis() - last_time) > IDLE_TIMEOUT) {
- if (current_state != &sm_ask_homing) {
- Serial.println(F("Idle timeout, disabling motors"));
- steppers_kill();
- states_go_to(&sm_ask_homing);
- return;
- }
- }
- #endif // (IDLE_TIMEOUT > 0)
-
- if (current_state != NULL) {
- current_state->inState(smi);
- }
- }
-
- State *states_get(void) {
- return current_state;
- }
-
- void states_go_to(State *state) {
- last_state_change = millis();
-
- current_state = state;
-
- if (current_state != NULL) {
- current_state->enterState();
- }
- }
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