Pipette+: Configure Smoothie Timeouts #3300
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sfoster1
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Apr 26, 2019
Currently, after every command we send an M400, which delays until the smoothie's queue is empty. We couple this with retrying unacked commands. The problem is, this couples command acknowledgement with command execution. The timeouts need to be short enough to be responsive if a command isn't acknowledged, but short timeouts cause problems with commands that take a long time - like long motions at low speeds. Instead, write the command and retry it if not acknowledged, but do not do an M400 until the command is acknowledged. Once that's done, you can use a very long timeout for the M400 without worrying about having to retry. Closes #3300, closes #2822
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overview
As a robot user, I would expect the robot to be able to complete tasks without encountering a smoothie timeout error. With the introduction of the pipette+ certain behaviors will take longer to complete than they had before due to the longer travel distance of the new pipettes (motor lead screw is now ~60mm versus the original 20mm)
current behavior
The current timeouts are hardcoded into our smoothie driver/firmware.
expected behavior
Instead we should make the firmware intelligent by using interrupts and designing our driver decisions around that.
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