Merge pull request #10257 from thinkyhead/bf2_tool_change_debug
This commit is contained in:
commit
241996d5d6
3 changed files with 260 additions and 335 deletions
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@ -138,30 +138,16 @@ void set_bed_leveling_enabled(const bool enable/*=true*/) {
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void set_z_fade_height(const float zfh, const bool do_report/*=true*/) {
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if (planner.z_fade_height == zfh) return; // do nothing if no change
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if (planner.z_fade_height == zfh) return;
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const bool level_active = planner.leveling_active;
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#if ENABLED(AUTO_BED_LEVELING_UBL)
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if (level_active) set_bed_leveling_enabled(false); // turn off before changing fade height for proper apply/unapply leveling to maintain current_position
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#endif
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const bool leveling_was_active = planner.leveling_active;
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set_bed_leveling_enabled(false);
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planner.set_z_fade_height(zfh);
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if (level_active) {
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if (leveling_was_active) {
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const float oldpos[] = { current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] };
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#if ENABLED(AUTO_BED_LEVELING_UBL)
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set_bed_leveling_enabled(true); // turn back on after changing fade height
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#else
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set_current_from_steppers_for_axis(
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#if ABL_PLANAR
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ALL_AXES
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#else
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Z_AXIS
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#endif
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);
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SYNC_PLAN_POSITION_KINEMATIC();
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#endif
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set_bed_leveling_enabled(true);
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if (do_report && memcmp(oldpos, current_position, sizeof(oldpos)))
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report_current_position();
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}
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@ -179,7 +179,7 @@ void GcodeSuite::G28(const bool always_home_all) {
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// Disable the leveling matrix before homing
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#if HAS_LEVELING
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#if ENABLED(RESTORE_LEVELING_AFTER_G28)
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const bool leveling_state_at_entry = planner.leveling_active;
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const bool leveling_was_active = planner.leveling_active;
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#endif
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set_bed_leveling_enabled(false);
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#endif
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@ -326,7 +326,7 @@ void GcodeSuite::G28(const bool always_home_all) {
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#endif
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#if ENABLED(RESTORE_LEVELING_AFTER_G28)
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set_bed_leveling_enabled(leveling_state_at_entry);
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set_bed_leveling_enabled(leveling_was_active);
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#endif
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clean_up_after_endstop_or_probe_move();
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@ -115,8 +115,112 @@
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#endif
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}
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#endif // PARKING_EXTRUDER
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inline void parking_extruder_tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool no_move/*=false*/) {
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if (!no_move) {
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const float parkingposx[] = PARKING_EXTRUDER_PARKING_X,
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midpos = (parkingposx[0] + parkingposx[1]) * 0.5 + hotend_offset[X_AXIS][active_extruder],
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grabpos = parkingposx[tmp_extruder] + hotend_offset[X_AXIS][active_extruder]
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+ (tmp_extruder == 0 ? -(PARKING_EXTRUDER_GRAB_DISTANCE) : PARKING_EXTRUDER_GRAB_DISTANCE);
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/**
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* Steps:
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* 1. Raise Z-Axis to give enough clearance
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* 2. Move to park position of old extruder
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* 3. Disengage magnetic field, wait for delay
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* 4. Move near new extruder
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* 5. Engage magnetic field for new extruder
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* 6. Move to parking incl. offset of new extruder
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* 7. Lower Z-Axis
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*/
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// STEP 1
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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SERIAL_ECHOLNPGM("Starting Autopark");
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if (DEBUGGING(LEVELING)) DEBUG_POS("current position:", current_position);
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#endif
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current_position[Z_AXIS] += PARKING_EXTRUDER_SECURITY_RAISE;
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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SERIAL_ECHOLNPGM("(1) Raise Z-Axis ");
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if (DEBUGGING(LEVELING)) DEBUG_POS("Moving to Raised Z-Position", current_position);
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#endif
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planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
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stepper.synchronize();
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// STEP 2
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current_position[X_AXIS] = parkingposx[active_extruder] + hotend_offset[X_AXIS][active_extruder];
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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SERIAL_ECHOLNPAIR("(2) Park extruder ", active_extruder);
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if (DEBUGGING(LEVELING)) DEBUG_POS("Moving ParkPos", current_position);
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#endif
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planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
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stepper.synchronize();
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// STEP 3
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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SERIAL_ECHOLNPGM("(3) Disengage magnet ");
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#endif
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pe_deactivate_magnet(active_extruder);
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// STEP 4
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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SERIAL_ECHOLNPGM("(4) Move to position near new extruder");
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#endif
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current_position[X_AXIS] += (active_extruder == 0 ? 10 : -10); // move 10mm away from parked extruder
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("Moving away from parked extruder", current_position);
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#endif
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planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
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stepper.synchronize();
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// STEP 5
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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SERIAL_ECHOLNPGM("(5) Engage magnetic field");
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#endif
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#if ENABLED(PARKING_EXTRUDER_SOLENOIDS_INVERT)
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pe_activate_magnet(active_extruder); //just save power for inverted magnets
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#endif
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pe_activate_magnet(tmp_extruder);
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// STEP 6
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current_position[X_AXIS] = grabpos + (tmp_extruder == 0 ? (+10) : (-10));
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planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
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current_position[X_AXIS] = grabpos;
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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SERIAL_ECHOLNPAIR("(6) Unpark extruder ", tmp_extruder);
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if (DEBUGGING(LEVELING)) DEBUG_POS("Move UnparkPos", current_position);
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#endif
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planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS]/2, active_extruder);
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stepper.synchronize();
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// Step 7
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current_position[X_AXIS] = midpos - hotend_offset[X_AXIS][tmp_extruder];
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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SERIAL_ECHOLNPGM("(7) Move midway between hotends");
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if (DEBUGGING(LEVELING)) DEBUG_POS("Move midway to new extruder", current_position);
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#endif
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planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
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stepper.synchronize();
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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SERIAL_ECHOLNPGM("Autopark done.");
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#endif
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}
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else { // nomove == true
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// Only engage magnetic field for new extruder
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pe_activate_magnet(tmp_extruder);
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#if ENABLED(PARKING_EXTRUDER_SOLENOIDS_INVERT)
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pe_activate_magnet(active_extruder); // Just save power for inverted magnets
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#endif
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}
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current_position[Z_AXIS] += hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder];
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("Applying Z-offset", current_position);
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#endif
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}
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#endif // PARKING_EXTRUDER
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inline void invalid_extruder_error(const uint8_t e) {
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SERIAL_ECHO_START();
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@ -126,44 +230,22 @@ inline void invalid_extruder_error(const uint8_t e) {
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SERIAL_ECHOLNPGM(MSG_INVALID_EXTRUDER);
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}
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/**
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* Perform a tool-change, which may result in moving the
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* previous tool out of the way and the new tool into place.
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*/
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void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool no_move/*=false*/) {
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#if ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1
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#if ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1
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inline void mixing_tool_change(const uint8_t tmp_extruder) {
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if (tmp_extruder >= MIXING_VIRTUAL_TOOLS)
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return invalid_extruder_error(tmp_extruder);
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// T0-Tnnn: Switch virtual tool by changing the mix
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for (uint8_t j = 0; j < MIXING_STEPPERS; j++)
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mixing_factor[j] = mixing_virtual_tool_mix[tmp_extruder][j];
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#else // !MIXING_EXTRUDER || MIXING_VIRTUAL_TOOLS <= 1
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if (tmp_extruder >= EXTRUDERS)
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return invalid_extruder_error(tmp_extruder);
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#if HOTENDS > 1
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const float old_feedrate_mm_s = fr_mm_s > 0.0 ? fr_mm_s : feedrate_mm_s;
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feedrate_mm_s = fr_mm_s > 0.0 ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S;
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if (tmp_extruder != active_extruder) {
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if (!no_move && axis_unhomed_error()) {
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no_move = true;
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("No move on toolchange");
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#endif
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}
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// Save current position to destination, for use later
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set_destination_from_current();
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#endif // MIXING_EXTRUDER && MIXING_VIRTUAL_TOOLS > 1
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#if ENABLED(DUAL_X_CARRIAGE)
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#if ENABLED(DUAL_X_CARRIAGE)
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inline void dualx_tool_change(const uint8_t tmp_extruder, bool &no_move) {
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) {
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SERIAL_ECHOPGM("Dual X Carriage Mode ");
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@ -242,11 +324,7 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
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// If the new extruder is the left one, set it "parked"
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// This triggers the second extruder to move into the duplication position
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active_extruder_parked = (active_extruder == 0);
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if (active_extruder_parked)
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current_position[X_AXIS] = inactive_extruder_x_pos;
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else
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current_position[X_AXIS] = destination[X_AXIS] + duplicate_extruder_x_offset;
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current_position[X_AXIS] = active_extruder_parked ? inactive_extruder_x_pos : destination[X_AXIS] + duplicate_extruder_x_offset;
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inactive_extruder_x_pos = destination[X_AXIS];
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extruder_duplication_enabled = false;
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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@ -266,227 +344,90 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
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#endif
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// No extra case for HAS_ABL in DUAL_X_CARRIAGE. Does that mean they don't work together?
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}
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#endif // DUAL_X_CARRIAGE
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#define DO_SWITCH_EXTRUDER (SWITCHING_EXTRUDER_SERVO_NR != SWITCHING_NOZZLE_SERVO_NR)
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/**
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* Perform a tool-change, which may result in moving the
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* previous tool out of the way and the new tool into place.
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*/
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void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool no_move/*=false*/) {
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#if ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1
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mixing_tool_change(tmp_extruder);
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#else // !MIXING_EXTRUDER || MIXING_VIRTUAL_TOOLS <= 1
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if (tmp_extruder >= EXTRUDERS)
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return invalid_extruder_error(tmp_extruder);
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#if HOTENDS > 1
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const float old_feedrate_mm_s = fr_mm_s > 0.0 ? fr_mm_s : feedrate_mm_s;
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feedrate_mm_s = fr_mm_s > 0.0 ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S;
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if (tmp_extruder != active_extruder) {
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if (!no_move && axis_unhomed_error()) {
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no_move = true;
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("No move on toolchange");
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#endif
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}
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// Save current position to destination, for use later
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set_destination_from_current();
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#if HAS_LEVELING
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// Set current position to the physical position
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const bool leveling_was_active = planner.leveling_active;
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set_bed_leveling_enabled(false);
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#endif
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#if ENABLED(DUAL_X_CARRIAGE)
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dualx_tool_change(tmp_extruder, no_move); // Can modify no_move
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#else // !DUAL_X_CARRIAGE
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#if ENABLED(PARKING_EXTRUDER) // Dual Parking extruder
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float z_raise = PARKING_EXTRUDER_SECURITY_RAISE;
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if (!no_move) {
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const float parkingposx[] = PARKING_EXTRUDER_PARKING_X,
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midpos = (parkingposx[0] + parkingposx[1]) * 0.5 + hotend_offset[X_AXIS][active_extruder],
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grabpos = parkingposx[tmp_extruder] + hotend_offset[X_AXIS][active_extruder]
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+ (tmp_extruder == 0 ? -(PARKING_EXTRUDER_GRAB_DISTANCE) : PARKING_EXTRUDER_GRAB_DISTANCE);
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/**
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* Steps:
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* 1. Raise Z-Axis to give enough clearance
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* 2. Move to park position of old extruder
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* 3. Disengage magnetic field, wait for delay
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* 4. Move near new extruder
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* 5. Engage magnetic field for new extruder
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* 6. Move to parking incl. offset of new extruder
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* 7. Lower Z-Axis
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*/
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// STEP 1
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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SERIAL_ECHOLNPGM("Starting Autopark");
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if (DEBUGGING(LEVELING)) DEBUG_POS("current position:", current_position);
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parking_extruder_tool_change(tmp_extruder, no_move);
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#endif
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current_position[Z_AXIS] += z_raise;
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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SERIAL_ECHOLNPGM("(1) Raise Z-Axis ");
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if (DEBUGGING(LEVELING)) DEBUG_POS("Moving to Raised Z-Position", current_position);
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#endif
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planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
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stepper.synchronize();
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// STEP 2
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current_position[X_AXIS] = parkingposx[active_extruder] + hotend_offset[X_AXIS][active_extruder];
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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SERIAL_ECHOLNPAIR("(2) Park extruder ", active_extruder);
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if (DEBUGGING(LEVELING)) DEBUG_POS("Moving ParkPos", current_position);
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#endif
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planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
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stepper.synchronize();
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// STEP 3
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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SERIAL_ECHOLNPGM("(3) Disengage magnet ");
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#endif
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pe_deactivate_magnet(active_extruder);
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// STEP 4
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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SERIAL_ECHOLNPGM("(4) Move to position near new extruder");
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#endif
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current_position[X_AXIS] += (active_extruder == 0 ? 10 : -10); // move 10mm away from parked extruder
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("Moving away from parked extruder", current_position);
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#endif
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planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
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stepper.synchronize();
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// STEP 5
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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SERIAL_ECHOLNPGM("(5) Engage magnetic field");
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#endif
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#if ENABLED(PARKING_EXTRUDER_SOLENOIDS_INVERT)
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pe_activate_magnet(active_extruder); //just save power for inverted magnets
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#endif
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pe_activate_magnet(tmp_extruder);
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// STEP 6
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current_position[X_AXIS] = grabpos + (tmp_extruder == 0 ? (+10) : (-10));
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planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
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current_position[X_AXIS] = grabpos;
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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SERIAL_ECHOLNPAIR("(6) Unpark extruder ", tmp_extruder);
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if (DEBUGGING(LEVELING)) DEBUG_POS("Move UnparkPos", current_position);
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#endif
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planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS]/2, active_extruder);
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stepper.synchronize();
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// Step 7
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current_position[X_AXIS] = midpos - hotend_offset[X_AXIS][tmp_extruder];
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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SERIAL_ECHOLNPGM("(7) Move midway between hotends");
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if (DEBUGGING(LEVELING)) DEBUG_POS("Move midway to new extruder", current_position);
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#endif
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planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
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stepper.synchronize();
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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SERIAL_ECHOLNPGM("Autopark done.");
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#endif
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}
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else { // nomove == true
|
||||
// Only engage magnetic field for new extruder
|
||||
pe_activate_magnet(tmp_extruder);
|
||||
#if ENABLED(PARKING_EXTRUDER_SOLENOIDS_INVERT)
|
||||
pe_activate_magnet(active_extruder); // Just save power for inverted magnets
|
||||
#endif
|
||||
}
|
||||
current_position[Z_AXIS] -= hotend_offset[Z_AXIS][tmp_extruder] - hotend_offset[Z_AXIS][active_extruder]; // Apply Zoffset
|
||||
|
||||
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
||||
if (DEBUGGING(LEVELING)) DEBUG_POS("Applying Z-offset", current_position);
|
||||
#endif
|
||||
|
||||
#endif // dualParking extruder
|
||||
|
||||
#if ENABLED(SWITCHING_NOZZLE)
|
||||
#define DONT_SWITCH (SWITCHING_EXTRUDER_SERVO_NR == SWITCHING_NOZZLE_SERVO_NR)
|
||||
// <0 if the new nozzle is higher, >0 if lower. A bigger raise when lower.
|
||||
const float z_diff = hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder],
|
||||
z_raise = 0.3 + (z_diff > 0.0 ? z_diff : 0.0);
|
||||
|
||||
// Always raise by some amount
|
||||
current_position[Z_AXIS] += z_raise;
|
||||
// Always raise by at least 0.3
|
||||
const float z_diff = hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder];
|
||||
current_position[Z_AXIS] += (z_diff > 0.0 ? z_diff : 0.0) + 0.3;
|
||||
planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
|
||||
move_nozzle_servo(tmp_extruder);
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Set current_position to the position of the new nozzle.
|
||||
* Offsets are based on linear distance, so we need to get
|
||||
* the resulting position in coordinate space.
|
||||
*
|
||||
* - With grid or 3-point leveling, offset XYZ by a tilted vector
|
||||
* - With mesh leveling, update Z for the new position
|
||||
* - Otherwise, just use the raw linear distance
|
||||
*
|
||||
* Software endstops are altered here too. Consider a case where:
|
||||
* E0 at X=0 ... E1 at X=10
|
||||
* When we switch to E1 now X=10, but E1 can't move left.
|
||||
* To express this we apply the change in XY to the software endstops.
|
||||
* E1 can move farther right than E0, so the right limit is extended.
|
||||
*
|
||||
* Note that we don't adjust the Z software endstops. Why not?
|
||||
* Consider a case where Z=0 (here) and switching to E1 makes Z=1
|
||||
* because the bed is 1mm lower at the new position. As long as
|
||||
* the first nozzle is out of the way, the carriage should be
|
||||
* allowed to move 1mm lower. This technically "breaks" the
|
||||
* Z software endstop. But this is technically correct (and
|
||||
* there is no viable alternative).
|
||||
*/
|
||||
#if ABL_PLANAR
|
||||
// Offset extruder, make sure to apply the bed level rotation matrix
|
||||
vector_3 tmp_offset_vec = vector_3(hotend_offset[X_AXIS][tmp_extruder],
|
||||
hotend_offset[Y_AXIS][tmp_extruder],
|
||||
0),
|
||||
act_offset_vec = vector_3(hotend_offset[X_AXIS][active_extruder],
|
||||
hotend_offset[Y_AXIS][active_extruder],
|
||||
0),
|
||||
offset_vec = tmp_offset_vec - act_offset_vec;
|
||||
const float xdiff = hotend_offset[X_AXIS][tmp_extruder] - hotend_offset[X_AXIS][active_extruder],
|
||||
ydiff = hotend_offset[Y_AXIS][tmp_extruder] - hotend_offset[Y_AXIS][active_extruder];
|
||||
|
||||
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
||||
if (DEBUGGING(LEVELING)) {
|
||||
tmp_offset_vec.debug(PSTR("tmp_offset_vec"));
|
||||
act_offset_vec.debug(PSTR("act_offset_vec"));
|
||||
offset_vec.debug(PSTR("offset_vec (BEFORE)"));
|
||||
}
|
||||
#endif
|
||||
|
||||
offset_vec.apply_rotation(planner.bed_level_matrix.transpose(planner.bed_level_matrix));
|
||||
|
||||
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
||||
if (DEBUGGING(LEVELING)) offset_vec.debug(PSTR("offset_vec (AFTER)"));
|
||||
#endif
|
||||
|
||||
// Adjustments to the current position
|
||||
const float xydiff[2] = { offset_vec.x, offset_vec.y };
|
||||
current_position[Z_AXIS] += offset_vec.z;
|
||||
|
||||
#else // !ABL_PLANAR
|
||||
|
||||
const float xydiff[2] = {
|
||||
hotend_offset[X_AXIS][tmp_extruder] - hotend_offset[X_AXIS][active_extruder],
|
||||
hotend_offset[Y_AXIS][tmp_extruder] - hotend_offset[Y_AXIS][active_extruder]
|
||||
};
|
||||
|
||||
#if HAS_MESH && PLANNER_LEVELING
|
||||
|
||||
if (planner.leveling_active) {
|
||||
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
||||
if (DEBUGGING(LEVELING)) SERIAL_ECHOPAIR("Z before: ", current_position[Z_AXIS]);
|
||||
#endif
|
||||
float x2 = current_position[X_AXIS] + xydiff[X_AXIS],
|
||||
y2 = current_position[Y_AXIS] + xydiff[Y_AXIS],
|
||||
z1 = current_position[Z_AXIS], z2 = z1;
|
||||
planner.apply_leveling(current_position[X_AXIS], current_position[Y_AXIS], z1);
|
||||
planner.apply_leveling(x2, y2, z2);
|
||||
current_position[Z_AXIS] += z2 - z1;
|
||||
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
||||
if (DEBUGGING(LEVELING))
|
||||
SERIAL_ECHOLNPAIR(" after: ", current_position[Z_AXIS]);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif // HAS_MESH && PLANNER_LEVELING
|
||||
|
||||
#endif // !HAS_ABL
|
||||
|
||||
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
||||
if (DEBUGGING(LEVELING)) {
|
||||
SERIAL_ECHOPAIR("Offset Tool XY by { ", xydiff[X_AXIS]);
|
||||
SERIAL_ECHOPAIR(", ", xydiff[Y_AXIS]);
|
||||
SERIAL_ECHOPAIR("Offset Tool XY by { ", xdiff);
|
||||
SERIAL_ECHOPAIR(", ", ydiff);
|
||||
SERIAL_ECHOLNPGM(" }");
|
||||
}
|
||||
#endif
|
||||
|
||||
// The newly-selected extruder XY is actually at...
|
||||
current_position[X_AXIS] += xydiff[X_AXIS];
|
||||
current_position[Y_AXIS] += xydiff[Y_AXIS];
|
||||
current_position[X_AXIS] += xdiff;
|
||||
current_position[Y_AXIS] += ydiff;
|
||||
|
||||
// Set the new active extruder
|
||||
active_extruder = tmp_extruder;
|
||||
|
||||
#endif // !DUAL_X_CARRIAGE
|
||||
|
||||
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
||||
if (DEBUGGING(LEVELING)) DEBUG_POS("Sync After Toolchange", current_position);
|
||||
#if HAS_LEVELING
|
||||
// Restore leveling to re-establish the logical position
|
||||
set_bed_leveling_enabled(leveling_was_active);
|
||||
#endif
|
||||
|
||||
// Tell the planner the new "current position"
|
||||
|
@ -494,22 +435,20 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
|
|||
|
||||
#if ENABLED(DELTA)
|
||||
//LOOP_XYZ(i) update_software_endstops(i); // or modify the constrain function
|
||||
// Do a small lift to avoid the workpiece in the move back (below)
|
||||
const bool safe_to_move = current_position[Z_AXIS] < delta_clip_start_height - 1;
|
||||
if (safe_to_move && !no_move && IsRunning()) {
|
||||
++current_position[Z_AXIS];
|
||||
planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
|
||||
}
|
||||
#else
|
||||
constexpr bool safe_to_move = true;
|
||||
#endif
|
||||
|
||||
// Move to the "old position" (move the extruder into place)
|
||||
#if ENABLED(SWITCHING_NOZZLE)
|
||||
destination[Z_AXIS] += z_diff; // Include the Z restore with the "move back"
|
||||
#endif
|
||||
|
||||
// Raise, move, and lower again
|
||||
if (safe_to_move && !no_move && IsRunning()) {
|
||||
// Do a small lift to avoid the workpiece in the move back (below)
|
||||
current_position[Z_AXIS] += 1.0;
|
||||
planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
|
||||
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
||||
if (DEBUGGING(LEVELING)) DEBUG_POS("Move back", destination);
|
||||
#endif
|
||||
|
@ -529,7 +468,7 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
|
|||
#if ENABLED(EXT_SOLENOID) && !ENABLED(PARKING_EXTRUDER)
|
||||
disable_all_solenoids();
|
||||
enable_solenoid_on_active_extruder();
|
||||
#endif // EXT_SOLENOID
|
||||
#endif
|
||||
|
||||
feedrate_mm_s = old_feedrate_mm_s;
|
||||
|
||||
|
@ -550,7 +489,7 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
|
|||
|
||||
#endif // HOTENDS <= 1
|
||||
|
||||
#if ENABLED(SWITCHING_EXTRUDER) && !DONT_SWITCH
|
||||
#if DO_SWITCH_EXTRUDER
|
||||
stepper.synchronize();
|
||||
move_extruder_servo(active_extruder);
|
||||
#endif
|
||||
|
|
Reference in a new issue