Carriage can start on the Right hand side moving Left.

AllYarnsAreBeautiful · Aug 23, 2020 · 35bb0d1 · 35bb0d1
1 parent a1ce5d2
commit 35bb0d1
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Showing 2 changed files with 32 additions and 11 deletions.
diff --git a/src/ayab/knitter.cpp b/src/ayab/knitter.cpp
@@ -64,6 +64,8 @@ void Knitter::init() {
   setUpInterrupt();
 
   // explicitly initialize members
+
+  // job parameters
   m_machineType = NoMachine;
   m_startNeedle = 0U;
   m_stopNeedle = 0U;
@@ -79,8 +81,6 @@ void Knitter::init() {
 #ifdef DBG_NOMACHINE
   m_prevState = false;
 #endif
-  m_solenoidToSet = 0U;
-  m_pixelToSet = 0U;
 }
 
 void Knitter::setUpInterrupt() {
@@ -163,16 +163,21 @@ void Knitter::encodePosition() {
   }
 }
 
-// return true -> move from state `s_init` to `s_ready`
+// if this function returns true then
+// the FSM will move from state `s_init` to `s_ready`
 bool Knitter::isReady() {
 #ifdef DBG_NOMACHINE
   bool state = digitalRead(DBG_BTN_PIN);
 
   // TODO(who?): check if debounce is needed
   if (m_prevState && !state) {
 #else
-  // machine is initialized when left hall sensor is passed in Right direction
-  if (Right == m_direction && Left == m_hallActive) {
+  // Machine is initialized when left Hall sensor is passed in Right direction
+  // New feature (August 2020): the machine is also initialized
+  // when the right Hall sensor is passed in Left direction.
+  if ((Right == m_direction and Left == m_hallActive) or
+      (Left == m_direction and Right == m_hallActive)) {
+
 #endif // DBG_NOMACHINE
     GlobalSolenoids::setSolenoids(SOLENOIDS_BITMASK);
     indState(true);

diff --git a/test/test_knitter.cpp b/test/test_knitter.cpp
@@ -116,7 +116,7 @@ class KnitterTest : public ::testing::Test {
   }
 
   void expect_isr(Direction_t dir, Direction_t hall) {
-    expect_isr(1, dir, hall, Regular, Garter);
+    expect_isr(1, dir, hall, Regular, Knit);
   }
 
   void expected_isr(Direction_t dir, Direction_t hall) {
@@ -151,10 +151,10 @@ class KnitterTest : public ::testing::Test {
   }
 
   void get_to_ready() {
-    // machine is initialized when left hall sensor
-    // is passed in Right direction inside active needles
+    // Machine is initialized when Left hall sensor
+    // is passed in Right direction inside active needles.
     Machine_t m = knitter->getMachineType();
-    expected_isr(40 + END_OF_LINE_OFFSET_L[m] + 1);
+    expected_isr(40 + END_OF_LINE_OFFSET_L[m] + 1, Right, Left, Regular, Knit);
 
     // initialize
     EXPECT_CALL(*solenoidsMock, setSolenoids(0xFFFF));
@@ -355,7 +355,7 @@ TEST_F(KnitterTest, test_knit_Kh910) {
   expected_knit(false);
 
   // no useful position calculated by `calculatePixelAndSolenoid()`
-  expected_isr(100, NoDirection, Right, Shifted, Garter);
+  expected_isr(100, NoDirection, Right, Shifted, Knit);
   EXPECT_CALL(*solenoidsMock, setSolenoid).Times(0);
   expect_indState();
   expected_knit(false);
@@ -670,7 +670,8 @@ TEST_F(KnitterTest, test_fsm_init_RR) {
 }
 
 TEST_F(KnitterTest, test_fsm_init_RL) {
-  // ready
+  // Machine is initialized when Left hall sensor
+  // is passed in Right direction inside active needles.
   expected_isr(Right, Left);
   EXPECT_CALL(*solenoidsMock, setSolenoids(0xFFFF));
   expect_indState();
@@ -682,3 +683,18 @@ TEST_F(KnitterTest, test_fsm_init_RL) {
   ASSERT_TRUE(Mock::VerifyAndClear(comMock));
   ASSERT_TRUE(Mock::VerifyAndClear(encodersMock));
 }
+
+TEST_F(KnitterTest, test_fsm_init_LR) {
+  // New feature (August 2020): the machine is also initialized
+  // when the right Hall sensor is passed in the Left direction.
+  expected_isr(Left, Right);
+  EXPECT_CALL(*solenoidsMock, setSolenoids(0xFFFF));
+  expect_indState();
+  expected_fsm();
+  ASSERT_EQ(fsm->getState(), s_ready);
+
+  // test expectations without destroying instance
+  ASSERT_TRUE(Mock::VerifyAndClear(solenoidsMock));
+  ASSERT_TRUE(Mock::VerifyAndClear(comMock));
+  ASSERT_TRUE(Mock::VerifyAndClear(encodersMock));
+}