Prevent a tool change move out of bounds
This commit is contained in:
Scott Lahteine
parent
2212da453a
commit
bc87e97357
1 changed files with 29 additions and 23 deletions
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@ -126,6 +126,10 @@
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#endif // SWITCHING_NOZZLE
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inline void fast_line_to_current(const AxisEnum fr_axis) {
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planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[fr_axis], active_extruder);
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}
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#if ENABLED(MAGNETIC_PARKING_EXTRUDER)
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float parkingposx[2] , // M951 R L
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@ -308,7 +312,7 @@
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if (DEBUGGING(LEVELING)) DEBUG_POS("(1) Raise Z-Axis", current_position);
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#endif
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planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[Z_AXIS], active_extruder);
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fast_line_to_current(Z_AXIS);
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planner.synchronize();
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// STEP 2
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@ -322,7 +326,7 @@
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}
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#endif
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planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[X_AXIS], active_extruder);
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fast_line_to_current(X_AXIS);
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planner.synchronize();
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// STEP 3
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@ -345,7 +349,7 @@
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if (DEBUGGING(LEVELING)) DEBUG_POS("Move away from parked extruder", current_position);
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#endif
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planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[X_AXIS], active_extruder);
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fast_line_to_current(X_AXIS);
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planner.synchronize();
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// STEP 5
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@ -362,12 +366,12 @@
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// STEP 6
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current_position[X_AXIS] = grabpos + (tmp_extruder ? -10 : 10);
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planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[X_AXIS], active_extruder);
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fast_line_to_current(X_AXIS);
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current_position[X_AXIS] = grabpos;
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("(6) Unpark extruder", current_position);
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#endif
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planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[X_AXIS]/2, active_extruder);
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planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[X_AXIS] * 0.5, active_extruder);
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planner.synchronize();
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// STEP 7
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@ -382,7 +386,7 @@
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if (DEBUGGING(LEVELING)) DEBUG_POS("(7) Move midway between hotends", current_position);
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#endif
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planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[X_AXIS], active_extruder);
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fast_line_to_current(X_AXIS);
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planner.synchronize();
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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@ -428,7 +432,7 @@
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* 6. Apply the z-offset of the new toolhead
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*/
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// STEP 1
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// 1. Raise Z to give enough clearance
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("Starting Toolhead change", current_position);
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@ -440,10 +444,10 @@
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if (DEBUGGING(LEVELING)) DEBUG_POS("(1) Raise Z-Axis", current_position);
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#endif
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planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[Z_AXIS], active_extruder);
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fast_line_to_current(Z_AXIS);
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planner.synchronize();
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// STEP 2
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// 2. Move to switch position of current toolhead
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current_position[X_AXIS] = placexpos;
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@ -454,7 +458,7 @@
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}
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#endif
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planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[X_AXIS], active_extruder);
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fast_line_to_current(X_AXIS);
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planner.synchronize();
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current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS - SWITCHING_TOOLHEAD_Y_SECURITY;
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@ -463,10 +467,10 @@
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if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos + Security", current_position);
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#endif
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planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[Y_AXIS], active_extruder);
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fast_line_to_current(Y_AXIS);
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planner.synchronize();
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// STEP 3
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// 3. Unlock tool and drop it in the dock
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("(3) Unlock and Place Toolhead");
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@ -490,10 +494,10 @@
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if (DEBUGGING(LEVELING)) DEBUG_POS("Move back Y clear", current_position);
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#endif
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planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[Y_AXIS], active_extruder); // move away from docked toolhead
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fast_line_to_current(Y_AXIS); // move away from docked toolhead
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planner.synchronize();
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// STEP 4
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// 4. Move to the new toolhead
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("(4) Move to new toolhead position");
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@ -505,7 +509,7 @@
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if (DEBUGGING(LEVELING)) DEBUG_POS("Move to new toolhead X", current_position);
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#endif
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planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[X_AXIS], active_extruder);
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fast_line_to_current(X_AXIS);
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planner.synchronize();
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current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS - SWITCHING_TOOLHEAD_Y_SECURITY;
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@ -513,10 +517,10 @@
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if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos + Security", current_position);
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#endif
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planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[Y_AXIS], active_extruder);
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fast_line_to_current(Y_AXIS);
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planner.synchronize();
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// STEP 5
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// 5. Grab and lock the new toolhead
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("(5) Grab and lock new toolhead ");
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@ -541,10 +545,10 @@
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if (DEBUGGING(LEVELING)) DEBUG_POS("Move back Y clear", current_position);
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#endif
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planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[Y_AXIS], active_extruder); // move away from docked toolhead
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fast_line_to_current(Y_AXIS); // move away from docked toolhead
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planner.synchronize();
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// STEP 6
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// 6. Apply the z-offset of the new toolhead
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#if HAS_HOTEND_OFFSET
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current_position[Z_AXIS] += hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder];
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@ -589,9 +593,7 @@ inline void invalid_extruder_error(const uint8_t e) {
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) {
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) {
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SERIAL_ECHOLNPAIR("MoveX to ", xhome);
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}
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("MoveX to ", xhome);
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#endif
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// Park old head
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planner.buffer_line(xhome, current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], planner.settings.max_feedrate_mm_s[X_AXIS], active_extruder);
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@ -797,7 +799,7 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
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#if HAS_SOFTWARE_ENDSTOPS
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NOMORE(current_position[Z_AXIS], soft_endstop_max[Z_AXIS]);
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#endif
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if (!no_move)planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[Z_AXIS], active_extruder);
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if (!no_move) fast_line_to_current(Z_AXIS);
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move_nozzle_servo(tmp_extruder);
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#endif
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@ -867,8 +869,12 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
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}
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#endif
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// Prevent a move outside physical bounds
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clamp_to_software_endstops(destination);
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// Move back to the original (or tweaked) position
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do_blocking_move_to(destination);
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#if ENABLED(DUAL_X_CARRIAGE)
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active_extruder_parked = false;
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#endif
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