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[ToolChanger] Lock the current tool at power-up (#17093)

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This commit is contained in:
MangaValk 2020-03-08 22:13:41 +01:00 committed by GitHub
parent b21edce943
commit 57f488738b
Signed by: GitHub
GPG key ID: 4AEE18F83AFDEB23
3 changed files with 18 additions and 5 deletions
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6
Marlin/src/MarlinCore.cpp
View file

@ -165,7 +165,7 @@
#include "feature/fanmux.h"
#endif
#if DO_SWITCH_EXTRUDER || ANY(SWITCHING_NOZZLE, PARKING_EXTRUDER, MAGNETIC_PARKING_EXTRUDER, ELECTROMAGNETIC_SWITCHING_TOOLHEAD)
#if DO_SWITCH_EXTRUDER || ANY(SWITCHING_NOZZLE, PARKING_EXTRUDER, MAGNETIC_PARKING_EXTRUDER, ELECTROMAGNETIC_SWITCHING_TOOLHEAD, SWITCHING_TOOLHEAD)
#include "module/tool_change.h"
#endif
@ -1110,6 +1110,10 @@ void setup() {
pe_solenoid_init();
#endif
#if ENABLED(SWITCHING_TOOLHEAD)
swt_init();
#endif
#if ENABLED(ELECTROMAGNETIC_SWITCHING_TOOLHEAD)
est_init();
#endif

13
Marlin/src/module/tool_change.cpp
View file

@ -368,11 +368,16 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
#if ENABLED(SWITCHING_TOOLHEAD)
inline void swt_lock(const bool locked=true) {
const uint16_t swt_angles[2] = SWITCHING_TOOLHEAD_SERVO_ANGLES;
MOVE_SERVO(SWITCHING_TOOLHEAD_SERVO_NR, swt_angles[locked ? 0 : 1]);
}
void swt_init() { swt_lock(); }
inline void switching_toolhead_tool_change(const uint8_t new_tool, bool no_move/*=false*/) {
if (no_move) return;
constexpr uint16_t angles[2] = SWITCHING_TOOLHEAD_SERVO_ANGLES;
constexpr float toolheadposx[] = SWITCHING_TOOLHEAD_X_POS;
const float placexpos = toolheadposx[active_extruder],
grabxpos = toolheadposx[new_tool];
@ -406,7 +411,7 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
planner.synchronize();
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(2) Unlock and Place Toolhead");
MOVE_SERVO(SWITCHING_TOOLHEAD_SERVO_NR, angles[1]);
swt_lock(false);
safe_delay(500);
current_position.y = SWITCHING_TOOLHEAD_Y_POS;
@ -451,7 +456,7 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
// Wait for move to finish, pause 0.2s, move servo, pause 0.5s
planner.synchronize();
safe_delay(200);
MOVE_SERVO(SWITCHING_TOOLHEAD_SERVO_NR, angles[0]);
swt_lock();
safe_delay(500);
current_position.y -= SWITCHING_TOOLHEAD_Y_CLEAR;

4
Marlin/src/module/tool_change.h
View file

@ -97,6 +97,10 @@
void est_init();
#endif
#if ENABLED(SWITCHING_TOOLHEAD)
void swt_init();
#endif
/**
* Perform a tool-change, which may result in moving the
* previous tool out of the way and the new tool into place.