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Adjust park code in tool_change

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This commit is contained in:
Scott Lahteine 2016-11-07 00:21:45 -06:00
parent b20405db31
commit 4217e9653e
1 changed files with 50 additions and 26 deletions
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76
Marlin/Marlin_main.cpp
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@ -1416,6 +1416,7 @@ static void set_home_offset(AxisEnum axis, float v) {
* current_position to home, because neither X nor Y is at home until * current_position to home, because neither X nor Y is at home until
* both are at home. Z can however be homed individually. * both are at home. Z can however be homed individually.
* *
* Callers must sync the planner position after calling this!
*/ */
static void set_axis_is_at_home(AxisEnum axis) { static void set_axis_is_at_home(AxisEnum axis) {
#if ENABLED(DEBUG_LEVELING_FEATURE) #if ENABLED(DEBUG_LEVELING_FEATURE)
@ -3246,10 +3247,12 @@ inline void gcode_G4() {
#endif #endif
) )
) { ) {
#if HOMING_Z_WITH_PROBE #if HOMING_Z_WITH_PROBE
destination[X_AXIS] -= X_PROBE_OFFSET_FROM_EXTRUDER; destination[X_AXIS] -= X_PROBE_OFFSET_FROM_EXTRUDER;
destination[Y_AXIS] -= Y_PROBE_OFFSET_FROM_EXTRUDER; destination[Y_AXIS] -= Y_PROBE_OFFSET_FROM_EXTRUDER;
#endif #endif
#if ENABLED(DEBUG_LEVELING_FEATURE) #if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("Z_SAFE_HOMING", destination); if (DEBUGGING(LEVELING)) DEBUG_POS("Z_SAFE_HOMING", destination);
#endif #endif
@ -3407,20 +3410,31 @@ inline void gcode_G28() {
// Home X // Home X
if (home_all_axis || homeX) { if (home_all_axis || homeX) {
#if ENABLED(DUAL_X_CARRIAGE) #if ENABLED(DUAL_X_CARRIAGE)
int tmp_extruder = active_extruder;
active_extruder = !active_extruder; // Always home the 2nd (right) extruder first
active_extruder = 1;
HOMEAXIS(X); HOMEAXIS(X);
// Remember this extruder's position for later tool change
inactive_extruder_x_pos = RAW_X_POSITION(current_position[X_AXIS]); inactive_extruder_x_pos = RAW_X_POSITION(current_position[X_AXIS]);
active_extruder = tmp_extruder;
// Home the 1st (left) extruder
active_extruder = 0;
HOMEAXIS(X); HOMEAXIS(X);
// reset state used by the different modes
// Consider the active extruder to be parked
memcpy(raised_parked_position, current_position, sizeof(raised_parked_position)); memcpy(raised_parked_position, current_position, sizeof(raised_parked_position));
delayed_move_time = 0; delayed_move_time = 0;
active_extruder_parked = true; active_extruder_parked = true;
#else #else
HOMEAXIS(X); HOMEAXIS(X);
#endif #endif
#if ENABLED(DEBUG_LEVELING_FEATURE) #if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("> homeX", current_position); if (DEBUGGING(LEVELING)) DEBUG_POS("> homeX", current_position);
#endif #endif
@ -7446,10 +7460,8 @@ inline void invalid_extruder_error(const uint8_t &e) {
void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool no_move/*=false*/) { void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool no_move/*=false*/) {
#if ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1 #if ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1
if (tmp_extruder >= MIXING_VIRTUAL_TOOLS) { if (tmp_extruder >= MIXING_VIRTUAL_TOOLS)
invalid_extruder_error(tmp_extruder); return invalid_extruder_error(tmp_extruder);
return;
}
// T0-Tnnn: Switch virtual tool by changing the mix // T0-Tnnn: Switch virtual tool by changing the mix
for (uint8_t j = 0; j < MIXING_STEPPERS; j++) for (uint8_t j = 0; j < MIXING_STEPPERS; j++)
@ -7459,10 +7471,8 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
#if HOTENDS > 1 #if HOTENDS > 1
if (tmp_extruder >= EXTRUDERS) { if (tmp_extruder >= EXTRUDERS)
invalid_extruder_error(tmp_extruder); return invalid_extruder_error(tmp_extruder);
return;
}
float old_feedrate_mm_s = feedrate_mm_s; float old_feedrate_mm_s = feedrate_mm_s;
@ -7490,22 +7500,28 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
} }
#endif #endif
if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE && IsRunning() && const float xhome = x_home_pos(active_extruder);
(delayed_move_time || current_position[X_AXIS] != x_home_pos(active_extruder)) if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE
&& IsRunning()
&& (delayed_move_time || current_position[X_AXIS] != xhome)
) { ) {
float raised_z = current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT;
#if ENABLED(max_software_endstops)
NOMORE(raised_z, soft_endstop_max[Z_AXIS]);
#endif
#if ENABLED(DEBUG_LEVELING_FEATURE) #if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) { if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("Raise to ", current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT); SERIAL_EOL; SERIAL_ECHOLNPAIR("Raise to ", raised_z);
SERIAL_ECHOPAIR("MoveX to ", x_home_pos(active_extruder)); SERIAL_EOL; SERIAL_ECHOLNPAIR("MoveX to ", xhome);
SERIAL_ECHOPAIR("Lower to ", current_position[Z_AXIS]); SERIAL_EOL; SERIAL_ECHOLNPAIR("Lower to ", current_position[Z_AXIS]);
} }
#endif #endif
// Park old head: 1) raise 2) move to park position 3) lower // Park old head: 1) raise 2) move to park position 3) lower
for (uint8_t i = 0; i < 3; i++) for (uint8_t i = 0; i < 3; i++)
planner.buffer_line( planner.buffer_line(
i == 0 ? current_position[X_AXIS] : x_home_pos(active_extruder), i == 0 ? current_position[X_AXIS] : xhome,
current_position[Y_AXIS], current_position[Y_AXIS],
current_position[Z_AXIS] + (i == 2 ? 0 : TOOLCHANGE_PARK_ZLIFT), i == 2 ? current_position[Z_AXIS] : raised_z,
current_position[E_AXIS], current_position[E_AXIS],
planner.max_feedrate_mm_s[i == 1 ? X_AXIS : Z_AXIS], planner.max_feedrate_mm_s[i == 1 ? X_AXIS : Z_AXIS],
active_extruder active_extruder
@ -7513,9 +7529,11 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
stepper.synchronize(); stepper.synchronize();
} }
// apply Y & Z extruder offset (x offset is already used in determining home pos) // Apply Y & Z extruder offset (X offset is used as home pos with Dual X)
current_position[Y_AXIS] -= hotend_offset[Y_AXIS][active_extruder] - hotend_offset[Y_AXIS][tmp_extruder]; current_position[Y_AXIS] -= hotend_offset[Y_AXIS][active_extruder] - hotend_offset[Y_AXIS][tmp_extruder];
current_position[Z_AXIS] -= hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder]; current_position[Z_AXIS] -= hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder];
// Activate the new extruder
active_extruder = tmp_extruder; active_extruder = tmp_extruder;
// This function resets the max/min values - the current position may be overwritten below. // This function resets the max/min values - the current position may be overwritten below.
@ -7530,7 +7548,9 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
switch (dual_x_carriage_mode) { switch (dual_x_carriage_mode) {
case DXC_FULL_CONTROL_MODE: case DXC_FULL_CONTROL_MODE:
// New current position is the position of the activated extruder
current_position[X_AXIS] = LOGICAL_X_POSITION(inactive_extruder_x_pos); current_position[X_AXIS] = LOGICAL_X_POSITION(inactive_extruder_x_pos);
// Save the inactive extruder's position (from the old current_position)
inactive_extruder_x_pos = RAW_X_POSITION(destination[X_AXIS]); inactive_extruder_x_pos = RAW_X_POSITION(destination[X_AXIS]);
break; break;
case DXC_AUTO_PARK_MODE: case DXC_AUTO_PARK_MODE:
@ -7544,7 +7564,10 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
delayed_move_time = 0; delayed_move_time = 0;
break; break;
case DXC_DUPLICATION_MODE: case DXC_DUPLICATION_MODE:
active_extruder_parked = (active_extruder == 0); // this triggers the second extruder to move into the duplication position // If the new extruder is the left one, set it "parked"
// This triggers the second extruder to move into the duplication position
active_extruder_parked = (active_extruder == 0);
if (active_extruder_parked) if (active_extruder_parked)
current_position[X_AXIS] = LOGICAL_X_POSITION(inactive_extruder_x_pos); current_position[X_AXIS] = LOGICAL_X_POSITION(inactive_extruder_x_pos);
else else
@ -7569,9 +7592,7 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
float z_diff = hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder], 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); z_raise = 0.3 + (z_diff > 0.0 ? z_diff : 0.0);
set_destination_to_current(); // Always raise by some amount (destination copied from current_position earlier)
// Always raise by some amount
destination[Z_AXIS] += z_raise; destination[Z_AXIS] += z_raise;
planner.buffer_line_kinematic(destination, planner.max_feedrate_mm_s[Z_AXIS], active_extruder); planner.buffer_line_kinematic(destination, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
stepper.synchronize(); stepper.synchronize();
@ -9260,8 +9281,11 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
current_position[Z_AXIS], current_position[Z_AXIS],
current_position[E_AXIS] current_position[E_AXIS]
); );
planner.buffer_line(current_position[X_AXIS] + duplicate_extruder_x_offset, planner.buffer_line(
current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], planner.max_feedrate_mm_s[X_AXIS], 1); current_position[X_AXIS] + duplicate_extruder_x_offset,
current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS],
planner.max_feedrate_mm_s[X_AXIS], 1
);
SYNC_PLAN_POSITION_KINEMATIC(); SYNC_PLAN_POSITION_KINEMATIC();
stepper.synchronize(); stepper.synchronize();
extruder_duplication_enabled = true; extruder_duplication_enabled = true;