From 86882ae10ac9b41c206114be16acf56d94ba68c9 Mon Sep 17 00:00:00 2001
From: PavelSindler <sindlerpa@gmail.com>
Date: Thu, 19 Jul 2018 20:16:42 +0200
Subject: [PATCH] M600 for snmm_v2 intial working version
---
Firmware/Marlin.h | 3 +-
Firmware/Marlin_main.cpp | 237 +++++++++++++++++----------------------
2 files changed, 103 insertions(+), 137 deletions(-)
diff --git a/Firmware/Marlin.h b/Firmware/Marlin.h
index a176753b..69f13cc7 100644
--- a/Firmware/Marlin.h
+++ b/Firmware/Marlin.h
@@ -470,4 +470,5 @@ bool mmu_get_reponse();
void mmu_not_responding();
void mmu_load_to_nozzle();
void M600_load_filament();
-void mmu_M600_load_filament();
\ No newline at end of file
+void mmu_M600_load_filament();
+void M600_load_filament_movements();
\ No newline at end of file
diff --git a/Firmware/Marlin_main.cpp b/Firmware/Marlin_main.cpp
index f48b374e..1f5a6cc5 100644
--- a/Firmware/Marlin_main.cpp
+++ b/Firmware/Marlin_main.cpp
@@ -6231,7 +6231,6 @@ Sigma_Exit:
#endif //PAT9125
st_synchronize();
- float target[4];
float lastpos[4];
if (farm_mode)
@@ -6247,10 +6246,6 @@ Sigma_Exit:
float HotendTempBckp = degTargetHotend(active_extruder);
int fanSpeedBckp = fanSpeed;
- target[X_AXIS]=current_position[X_AXIS];
- target[Y_AXIS]=current_position[Y_AXIS];
- target[Z_AXIS]=current_position[Z_AXIS];
- target[E_AXIS]=current_position[E_AXIS];
lastpos[X_AXIS]=current_position[X_AXIS];
lastpos[Y_AXIS]=current_position[Y_AXIS];
lastpos[Z_AXIS]=current_position[Z_AXIS];
@@ -6259,27 +6254,27 @@ Sigma_Exit:
//Restract extruder
if(code_seen('E'))
{
- target[E_AXIS]+= code_value();
+ current_position[E_AXIS]+= code_value();
}
else
{
#ifdef FILAMENTCHANGE_FIRSTRETRACT
- target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT ;
+ current_position[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT ;
#endif
}
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_RFEED, active_extruder);
+ plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], FILAMENTCHANGE_RFEED, active_extruder);
//Lift Z
if(code_seen('Z'))
{
- target[Z_AXIS]+= code_value();
+ current_position[Z_AXIS]+= code_value();
}
else
{
#ifdef FILAMENTCHANGE_ZADD
- target[Z_AXIS]+= FILAMENTCHANGE_ZADD ;
- if(target[Z_AXIS] < 10){
- target[Z_AXIS]+= 10 ;
+ current_position[Z_AXIS]+= FILAMENTCHANGE_ZADD ;
+ if(current_position[Z_AXIS] < 10){
+ current_position[Z_AXIS]+= 10 ;
TooLowZ = 1;
}else{
TooLowZ = 0;
@@ -6288,30 +6283,30 @@ Sigma_Exit:
}
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_ZFEED, active_extruder);
+ plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], FILAMENTCHANGE_ZFEED, active_extruder);
//Move XY to side
if(code_seen('X'))
{
- target[X_AXIS]+= code_value();
+ current_position[X_AXIS]+= code_value();
}
else
{
#ifdef FILAMENTCHANGE_XPOS
- target[X_AXIS]= FILAMENTCHANGE_XPOS ;
+ current_position[X_AXIS]= FILAMENTCHANGE_XPOS ;
#endif
}
if(code_seen('Y'))
{
- target[Y_AXIS]= code_value();
+ current_position[Y_AXIS]= code_value();
}
else
{
#ifdef FILAMENTCHANGE_YPOS
- target[Y_AXIS]= FILAMENTCHANGE_YPOS ;
+ current_position[Y_AXIS]= FILAMENTCHANGE_YPOS ;
#endif
}
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_XYFEED, active_extruder);
+ plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], FILAMENTCHANGE_XYFEED, active_extruder);
st_synchronize();
KEEPALIVE_STATE(PAUSED_FOR_USER);
@@ -6398,7 +6393,7 @@ Sigma_Exit:
if (code_seen('L'))
{
- target[E_AXIS] += code_value();
+ current_position[E_AXIS] += code_value();
}
else
{
@@ -6406,32 +6401,32 @@ Sigma_Exit:
#else
#ifdef FILAMENTCHANGE_FINALRETRACT
- target[E_AXIS] += FILAMENTCHANGE_FINALRETRACT;
+ current_position[E_AXIS] += FILAMENTCHANGE_FINALRETRACT;
#endif
#endif // SNMM
}
#ifdef SNMM
- target[E_AXIS] += 12;
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 3500, active_extruder);
- target[E_AXIS] += 6;
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 5000, active_extruder);
- target[E_AXIS] += (FIL_LOAD_LENGTH * -1);
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 5000, active_extruder);
+ current_position[E_AXIS] += 12;
+ plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3500, active_extruder);
+ current_position[E_AXIS] += 6;
+ plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 5000, active_extruder);
+ current_position[E_AXIS] += (FIL_LOAD_LENGTH * -1);
+ plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 5000, active_extruder);
st_synchronize();
- target[E_AXIS] += (FIL_COOLING);
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 50, active_extruder);
- target[E_AXIS] += (FIL_COOLING*-1);
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 50, active_extruder);
- target[E_AXIS] += (bowden_length[snmm_extruder] * -1);
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 3000, active_extruder);
+ current_position[E_AXIS] += (FIL_COOLING);
+ plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 50, active_extruder);
+ current_position[E_AXIS] += (FIL_COOLING*-1);
+ plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 50, active_extruder);
+ current_position[E_AXIS] += (bowden_length[snmm_extruder] * -1);
+ plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000, active_extruder);
st_synchronize();
#else
- // plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_RFEED, active_extruder);
- //plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 3500 / 60, active_extruder);
+ // plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], FILAMENTCHANGE_RFEED, active_extruder);
+ //plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3500 / 60, active_extruder);
- target[E_AXIS] -= FILAMENTCHANGE_FINALRETRACT;
+ current_position[E_AXIS] -= FILAMENTCHANGE_FINALRETRACT;
st_synchronize();
#ifdef TMC2130
uint8_t tmc2130_current_r_bckp = tmc2130_current_r[E_AXIS];
@@ -6444,14 +6439,14 @@ Sigma_Exit:
#endif //TMC2130
- target[E_AXIS] -= 45;
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 5200 / 60, active_extruder);
+ current_position[E_AXIS] -= 45;
+ plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 5200 / 60, active_extruder);
st_synchronize();
- target[E_AXIS] -= 15;
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 1000 / 60, active_extruder);
+ current_position[E_AXIS] -= 15;
+ plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 1000 / 60, active_extruder);
st_synchronize();
- target[E_AXIS] -= 20;
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 1000 / 60, active_extruder);
+ current_position[E_AXIS] -= 20;
+ plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 1000 / 60, active_extruder);
st_synchronize();
#ifdef TMC2130
@@ -6506,10 +6501,12 @@ Sigma_Exit:
#ifdef SNMM_V2
mmu_M600_load_filament();
#else
- M600_load_filament();
+ M600_load_filament(old_fsensor_enabled);
#endif
-
+ //Wait for user to check the state
+ lcd_change_fil_state = 0;
+
while ((lcd_change_fil_state == 0)||(lcd_change_fil_state != 1)){
lcd_change_fil_state = 0;
KEEPALIVE_STATE(PAUSED_FOR_USER);
@@ -6519,39 +6516,17 @@ Sigma_Exit:
// Filament failed to load so load it again
case 2:
-#ifdef SNMM
- display_loading();
- do {
- target[E_AXIS] += 0.002;
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 500, active_extruder);
- delay_keep_alive(2);
- } while (!lcd_clicked());
-
- st_synchronize();
- target[E_AXIS] += bowden_length[snmm_extruder];
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 3000, active_extruder);
- target[E_AXIS] += FIL_LOAD_LENGTH - 60;
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 1400, active_extruder);
- target[E_AXIS] += 40;
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 400, active_extruder);
- target[E_AXIS] += 10;
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 50, active_extruder);
-
+#ifdef SNMM_V2
+ mmu_M600_load_filament(); //change to "wrong filament loaded" option?
#else
- target[E_AXIS]+= FILAMENTCHANGE_FIRSTFEED ;
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_EFEED, active_extruder);
-#endif
- target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_EXFEED, active_extruder);
-
- lcd_loading_filament();
-
+ M600_load_filament_movements();
+#endif
break;
// Filament loaded properly but color is not clear
case 3:
- target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
+ current_position[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
+ plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2, active_extruder);
lcd_loading_color();
break;
@@ -6566,34 +6541,37 @@ Sigma_Exit:
//Not let's go back to print
- fanSpeed = fanSpeedBckp;
+ fanSpeed = fanSpeedBckp;
//Feed a little of filament to stabilize pressure
- target[E_AXIS]+= FILAMENTCHANGE_RECFEED;
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_EXFEED, active_extruder);
+ current_position[E_AXIS]+= FILAMENTCHANGE_RECFEED;
+ plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], FILAMENTCHANGE_EXFEED, active_extruder);
//Retract
- target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT;
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_RFEED, active_extruder);
+ current_position[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT;
+ plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], FILAMENTCHANGE_RFEED, active_extruder);
- //plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 70, active_extruder); //should do nothing
+ //plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 70, active_extruder); //should do nothing
//Move XY back
- plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_XYFEED, active_extruder);
+ plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], FILAMENTCHANGE_XYFEED, active_extruder);
//Move Z back
- plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_ZFEED, active_extruder);
+ plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], current_position[E_AXIS], FILAMENTCHANGE_ZFEED, active_extruder);
- target[E_AXIS]= target[E_AXIS] - FILAMENTCHANGE_FIRSTRETRACT;
+ current_position[E_AXIS]= current_position[E_AXIS] - FILAMENTCHANGE_FIRSTRETRACT;
//Unretract
- plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_RFEED, active_extruder);
+ plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], current_position[E_AXIS], FILAMENTCHANGE_RFEED, active_extruder);
//Set E position to original
plan_set_e_position(lastpos[E_AXIS]);
+
+ memcpy(current_position, lastpos, sizeof(lastpos));
+ memcpy(destination, current_position, sizeof(current_position));
//Recover feed rate
feedmultiply=feedmultiplyBckp;
@@ -9092,7 +9070,7 @@ void mmu_load_to_nozzle() {
bool saved_e_relative_mode = axis_relative_modes[E_AXIS];
if (!saved_e_relative_mode) axis_relative_modes[E_AXIS] = true;
- target[E_AXIS] += 7.2f;
+ current_position[E_AXIS] += 7.2f;
float feedrate = 562;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate / 60, active_extruder);
st_synchronize();
@@ -9118,6 +9096,11 @@ void mmu_switch_extruder(uint8_t extruder) {
void mmu_M600_load_filament() {
bool response = false;
tmp_extruder = choose_extruder_menu();
+ lcd_update_enable(false);
+ lcd_clear();
+ lcd_set_cursor(0, 1); lcd_puts_P(_T(MSG_LOADING_FILAMENT));
+ lcd_print(" ");
+ lcd_print(snmm_extruder + 1);
snmm_filaments_used |= (1 << tmp_extruder); //for stop print
printf_P(PSTR("T code: %d \n"), tmp_extruder);
switch (tmp_extruder)
@@ -9152,23 +9135,51 @@ void mmu_M600_load_filament() {
mmu_load_to_nozzle();
}
-void M600_load_filament() {
-#if 0
+void M600_load_filament_movements() {
+#ifdef SNMM
+ display_loading();
+ do {
+ current_position[E_AXIS] += 0.002;
+ plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 500, active_extruder);
+ delay_keep_alive(2);
+ } while (!lcd_clicked());
+
+ st_synchronize();
+ current_position[E_AXIS] += bowden_length[snmm_extruder];
+ plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000, active_extruder);
+ current_position[E_AXIS] += FIL_LOAD_LENGTH - 60;
+ plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 1400, active_extruder);
+ current_position[E_AXIS] += 40;
+ plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400, active_extruder);
+ current_position[E_AXIS] += 10;
+ plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 50, active_extruder);
+
+#else
+ current_position[E_AXIS]+= FILAMENTCHANGE_FIRSTFEED ;
+ plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], FILAMENTCHANGE_EFEED, active_extruder);
+#endif
+ current_position[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
+ plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], FILAMENTCHANGE_EXFEED, active_extruder);
+
+ lcd_loading_filament();
+}
+
+void M600_load_filament(bool fsensor_enabled) {
+
lcd_wait_interact();
//load_filament_time = millis();
KEEPALIVE_STATE(PAUSED_FOR_USER);
#ifdef PAT9125
- if (filament_autoload_enabled && (old_fsensor_enabled || fsensor_M600)) fsensor_autoload_check_start();
+ if (filament_autoload_enabled && (fsensor_enabled || fsensor_M600)) fsensor_autoload_check_start();
#endif //PAT9125
-// printf_P(PSTR("M600 PAT9125 filament_autoload_enabled=%d, old_fsensor_enabled=%d, fsensor_M600=%d"), filament_autoload_enabled, old_fsensor_enabled, fsensor_M600);
while(!lcd_clicked())
{
manage_heater();
manage_inactivity(true);
#ifdef PAT9125
- if (filament_autoload_enabled && (old_fsensor_enabled || fsensor_M600) && fsensor_check_autoload())
+ if (filament_autoload_enabled && (fsensor_enabled || fsensor_M600) && fsensor_check_autoload())
{
tone(BEEPER, 1000);
delay_keep_alive(50);
@@ -9176,65 +9187,19 @@ void M600_load_filament() {
break;
}
#endif //PAT9125
-/*#ifdef SNMM
- target[E_AXIS] += 0.002;
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 500, active_extruder);
-
-#endif // SNMM*/
}
#ifdef PAT9125
- if (filament_autoload_enabled && (old_fsensor_enabled || fsensor_M600)) fsensor_autoload_check_stop();
+ if (filament_autoload_enabled && (fsensor_enabled || fsensor_M600)) fsensor_autoload_check_stop();
#endif //PAT9125
- //WRITE(BEEPER, LOW);
KEEPALIVE_STATE(IN_HANDLER);
-
-#ifdef SNMM
- display_loading();
- KEEPALIVE_STATE(PAUSED_FOR_USER);
- do {
- target[E_AXIS] += 0.002;
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 500, active_extruder);
- delay_keep_alive(2);
- } while (!lcd_clicked());
- KEEPALIVE_STATE(IN_HANDLER);
- /*if (millis() - load_filament_time > 2) {
- load_filament_time = millis();
- target[E_AXIS] += 0.001;
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 1000, active_extruder);
- }*/
-
- //Filament inserted
- //Feed the filament to the end of nozzle quickly
- st_synchronize();
- target[E_AXIS] += bowden_length[snmm_extruder];
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 3000, active_extruder);
- target[E_AXIS] += FIL_LOAD_LENGTH - 60;
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 1400, active_extruder);
- target[E_AXIS] += 40;
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 400, active_extruder);
- target[E_AXIS] += 10;
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 50, active_extruder);
- //Extrude some filament
- target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_EXFEED, active_extruder);
-#else
- target[E_AXIS] += FILAMENTCHANGE_FIRSTFEED;
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_EFEED, active_extruder);
- //Extrude some filament
- target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_EXFEED, active_extruder);
-
-#endif // SNMM
- //Wait for user to check the state
- lcd_change_fil_state = 0;
- lcd_loading_filament();
+ M600_load_filament_movements();
tone(BEEPER, 500);
delay_keep_alive(50);
noTone(BEEPER);
-#endif
+
}
#define FIL_LOAD_LENGTH 60