Experimental: disengage to intermediate

Author: D.R.racer

src/logic/feed_to_bondtech.cpp

@@ -86,18 +86,19 @@ bool FeedToBondtech::Step() {
         if (mi::idler.PartiallyDisengaged()) {
             mm::motion.AbortPlannedMoves(mm::Pulley);
             mpu::pulley.Disable();
-            mi::idler.Disengage(); // disengage fully while Pulley is already stopped
-            state = DisengagingIdler;
-        }
-        return false;
-    case DisengagingIdler:
-        if (mi::idler.Disengaged()) {
-            dbg_logic_P(PSTR("Feed to Bondtech --> Idler disengaged"));
-            dbg_logic_fP(PSTR("Pulley end steps %u"), mpu::pulley.CurrentPosition_mm());
-            state = OK;
+            //mi::idler.Disengage(); // disengage fully while Pulley is already stopped
             ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::on);
+            state = OK;
         }
         return false;
+    // case DisengagingIdler:
+    //     if (mi::idler.Disengaged()) {
+    //         dbg_logic_P(PSTR("Feed to Bondtech --> Idler disengaged"));
+    //         dbg_logic_fP(PSTR("Pulley end steps %u"), mpu::pulley.CurrentPosition_mm());
+    //         state = OK;
+    //         ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::on);
+    //     }
+    //     return false;
     case OK:
         dbg_logic_P(PSTR("Feed to Bondtech OK"));
         return true;

src/logic/tool_change.cpp

@@ -186,6 +186,7 @@ ProgressCode ToolChange::State() const {
             return ProgressCode::FeedingToFSensor;
         case FeedToBondtech::PushingFilamentIntoNozzle:
             return ProgressCode::FeedingToNozzle;
+        case FeedToBondtech::PartiallyDisengagingIdler:
         case FeedToBondtech::DisengagingIdler:
             return ProgressCode::DisengagingIdler;
         }

src/logic/unload_filament.cpp

@@ -77,12 +77,12 @@ bool UnloadFilament::StepInner() {
                 GoToErrDisengagingIdler(ErrorCode::FINDA_DIDNT_SWITCH_OFF); // signal unloading error
             } else {
                 state = ProgressCode::DisengagingIdler;
-                mi::idler.Disengage();
+                mi::idler.PartiallyDisengage(mg::globals.ActiveSlot());
             }
         }
         return false;
     case ProgressCode::DisengagingIdler:
-        if (mi::idler.Disengaged() && ms::selector.State() == ms::Selector::Ready) {
+        if (mi::idler.PartiallyDisengaged() && ms::selector.State() == ms::Selector::Ready) {
             UnloadFinishedCorrectly();
         }
         return false;