Get rid of MAGNET_DISTANCE_270

By incorporating the additional offset caused by the second
magnet into the end offsets we can avoid a special case in
the Encoders class.

src/ayab/encoders.cpp

@@ -208,12 +208,7 @@ void Encoders::encA_rising() {
 
     uint8_t start_position = END_LEFT_PLUS_OFFSET[static_cast<uint8_t>(m_machineType)];
 
-    if (m_machineType == Machine_t::Kh270) {
-      m_carriage = Carriage_t::Knit;
-
-      // Assume the rightmost magnet was detected
-      start_position = start_position + MAGNET_DISTANCE_270;
-    } else if (m_carriage == Carriage_t::Lace &&
+    if (m_carriage == Carriage_t::Lace &&
                detected_carriage == Carriage_t::Knit &&
                m_position > start_position) {
       m_carriage = Carriage_t::Garter;
@@ -298,12 +293,7 @@ void Encoders::encA_falling() {
 
     uint8_t start_position = END_RIGHT_MINUS_OFFSET[static_cast<uint8_t>(m_machineType)];
 
-    if (m_machineType == Machine_t::Kh270) {
-      m_carriage = Carriage_t::Knit;
-
-      // Assume the leftmost magnet was detected
-      start_position = start_position; // FIXME
-    } else if (m_carriage == Carriage_t::Lace &&
+    if (m_carriage == Carriage_t::Lace &&
                detected_carriage == Carriage_t::Knit &&
                m_position < start_position) {
       m_carriage = Carriage_t::Garter;

src/ayab/encoders.h

@@ -66,13 +66,13 @@ constexpr uint8_t END_OF_LINE_OFFSET_L[NUM_MACHINES] = {12U, 12U, 6U};
 constexpr uint8_t END_OF_LINE_OFFSET_R[NUM_MACHINES] = {12U, 12U, 6U};
 
 constexpr uint8_t END_LEFT[NUM_MACHINES] = {0U, 0U, 0U};
-constexpr uint8_t END_RIGHT[NUM_MACHINES] = {255U, 255U, 140U};
-constexpr uint8_t END_OFFSET[NUM_MACHINES] = {28U, 28U, 5U};
+constexpr uint8_t END_RIGHT[NUM_MACHINES] = {255U, 255U, 150U};
+constexpr uint8_t END_OFFSET[NUM_MACHINES] = {28U, 28U, 17U};
 
 // The following two arrays are created by combining, respectively,
 // the arrays END_LEFT and END_RIGHT with END_OFFSET
-constexpr uint8_t END_LEFT_PLUS_OFFSET[NUM_MACHINES] = {28U, 28U, 5U};
-constexpr uint8_t END_RIGHT_MINUS_OFFSET[NUM_MACHINES] = {227U, 227U, 135U};
+constexpr uint8_t END_LEFT_PLUS_OFFSET[NUM_MACHINES] = {28U, 28U, 17U};
+constexpr uint8_t END_RIGHT_MINUS_OFFSET[NUM_MACHINES] = {227U, 227U, 133U};
 
 constexpr uint8_t ALL_MAGNETS_CLEARED_LEFT[NUM_MACHINES] = {56U, 56U, 10U};
 constexpr uint8_t ALL_MAGNETS_CLEARED_RIGHT[NUM_MACHINES] = {199U, 199U, 130U};
@@ -117,8 +117,6 @@ constexpr uint16_t FILTER_R_MAX[NUM_MACHINES] = {1023U, 600U, 600U};
 
 constexpr uint16_t SOLENOIDS_BITMASK = 0xFFFFU;
 
-constexpr uint8_t MAGNET_DISTANCE_270 = 12U;
-
 /*!
  * \brief Encoder interface.
  *