Split up tool_change for some setups
This commit is contained in:
Scott Lahteine
parent
a9f94f260a
commit
d1734a089a
1 changed files with 230 additions and 215 deletions
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@ -115,8 +115,114 @@
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#endif
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#endif
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}
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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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constexpr 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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#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
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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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inline void invalid_extruder_error(const uint8_t e) {
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SERIAL_ECHO_START();
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SERIAL_ECHO_START();
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@ -126,6 +232,124 @@ inline void invalid_extruder_error(const uint8_t e) {
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SERIAL_ECHOLNPGM(MSG_INVALID_EXTRUDER);
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SERIAL_ECHOLNPGM(MSG_INVALID_EXTRUDER);
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}
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}
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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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}
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#endif // MIXING_EXTRUDER && MIXING_VIRTUAL_TOOLS > 1
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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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switch (dual_x_carriage_mode) {
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case DXC_FULL_CONTROL_MODE: SERIAL_ECHOLNPGM("DXC_FULL_CONTROL_MODE"); break;
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case DXC_AUTO_PARK_MODE: SERIAL_ECHOLNPGM("DXC_AUTO_PARK_MODE"); break;
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case DXC_DUPLICATION_MODE: SERIAL_ECHOLNPGM("DXC_DUPLICATION_MODE"); break;
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}
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}
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#endif
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const float xhome = x_home_pos(active_extruder);
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if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE
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&& IsRunning()
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&& (delayed_move_time || current_position[X_AXIS] != xhome)
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) {
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float raised_z = current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT;
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#if ENABLED(MAX_SOFTWARE_ENDSTOPS)
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NOMORE(raised_z, soft_endstop_max[Z_AXIS]);
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#endif
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) {
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SERIAL_ECHOLNPAIR("Raise to ", raised_z);
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SERIAL_ECHOLNPAIR("MoveX to ", xhome);
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SERIAL_ECHOLNPAIR("Lower to ", current_position[Z_AXIS]);
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}
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#endif
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// Park old head: 1) raise 2) move to park position 3) lower
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for (uint8_t i = 0; i < 3; i++)
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planner.buffer_line(
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i == 0 ? current_position[X_AXIS] : xhome,
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current_position[Y_AXIS],
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i == 2 ? current_position[Z_AXIS] : raised_z,
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current_position[E_AXIS],
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planner.max_feedrate_mm_s[i == 1 ? X_AXIS : Z_AXIS],
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active_extruder
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);
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stepper.synchronize();
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}
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// Apply Y & Z extruder offset (X offset is used as home pos with Dual X)
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current_position[Y_AXIS] -= hotend_offset[Y_AXIS][active_extruder] - hotend_offset[Y_AXIS][tmp_extruder];
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current_position[Z_AXIS] -= hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder];
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// Activate the new extruder ahead of calling set_axis_is_at_home!
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active_extruder = tmp_extruder;
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// This function resets the max/min values - the current position may be overwritten below.
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set_axis_is_at_home(X_AXIS);
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("New Extruder", current_position);
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#endif
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// Only when auto-parking are carriages safe to move
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if (dual_x_carriage_mode != DXC_AUTO_PARK_MODE) no_move = true;
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switch (dual_x_carriage_mode) {
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case DXC_FULL_CONTROL_MODE:
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// New current position is the position of the activated extruder
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current_position[X_AXIS] = inactive_extruder_x_pos;
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// Save the inactive extruder's position (from the old current_position)
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inactive_extruder_x_pos = destination[X_AXIS];
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break;
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case DXC_AUTO_PARK_MODE:
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// record raised toolhead position for use by unpark
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COPY(raised_parked_position, current_position);
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raised_parked_position[Z_AXIS] += TOOLCHANGE_UNPARK_ZLIFT;
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#if ENABLED(MAX_SOFTWARE_ENDSTOPS)
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NOMORE(raised_parked_position[Z_AXIS], soft_endstop_max[Z_AXIS]);
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#endif
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active_extruder_parked = true;
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delayed_move_time = 0;
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break;
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case DXC_DUPLICATION_MODE:
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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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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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if (DEBUGGING(LEVELING)) {
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SERIAL_ECHOLNPAIR("Set inactive_extruder_x_pos=", inactive_extruder_x_pos);
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SERIAL_ECHOLNPGM("Clear extruder_duplication_enabled");
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}
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#endif
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break;
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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("Active extruder parked: ", active_extruder_parked ? "yes" : "no");
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DEBUG_POS("New extruder (parked)", current_position);
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}
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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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/**
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/**
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* Perform a tool-change, which may result in moving the
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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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* previous tool out of the way and the new tool into place.
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@ -133,12 +357,7 @@ inline void invalid_extruder_error(const uint8_t e) {
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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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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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if (tmp_extruder >= MIXING_VIRTUAL_TOOLS)
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mixing_tool_change(tmp_extruder);
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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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#else // !MIXING_EXTRUDER || MIXING_VIRTUAL_TOOLS <= 1
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@ -164,217 +383,13 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
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#if ENABLED(DUAL_X_CARRIAGE)
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#if ENABLED(DUAL_X_CARRIAGE)
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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dualx_tool_change(tmp_extruder, no_move); // Can modify no_move
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if (DEBUGGING(LEVELING)) {
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SERIAL_ECHOPGM("Dual X Carriage Mode ");
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switch (dual_x_carriage_mode) {
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case DXC_FULL_CONTROL_MODE: SERIAL_ECHOLNPGM("DXC_FULL_CONTROL_MODE"); break;
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case DXC_AUTO_PARK_MODE: SERIAL_ECHOLNPGM("DXC_AUTO_PARK_MODE"); break;
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case DXC_DUPLICATION_MODE: SERIAL_ECHOLNPGM("DXC_DUPLICATION_MODE"); break;
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}
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}
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#endif
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const float xhome = x_home_pos(active_extruder);
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if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE
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&& IsRunning()
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&& (delayed_move_time || current_position[X_AXIS] != xhome)
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) {
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float raised_z = current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT;
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#if ENABLED(MAX_SOFTWARE_ENDSTOPS)
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NOMORE(raised_z, soft_endstop_max[Z_AXIS]);
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#endif
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) {
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SERIAL_ECHOLNPAIR("Raise to ", raised_z);
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SERIAL_ECHOLNPAIR("MoveX to ", xhome);
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SERIAL_ECHOLNPAIR("Lower to ", current_position[Z_AXIS]);
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}
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#endif
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// Park old head: 1) raise 2) move to park position 3) lower
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for (uint8_t i = 0; i < 3; i++)
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planner.buffer_line(
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i == 0 ? current_position[X_AXIS] : xhome,
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current_position[Y_AXIS],
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i == 2 ? current_position[Z_AXIS] : raised_z,
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current_position[E_AXIS],
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planner.max_feedrate_mm_s[i == 1 ? X_AXIS : Z_AXIS],
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active_extruder
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);
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stepper.synchronize();
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}
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// Apply Y & Z extruder offset (X offset is used as home pos with Dual X)
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current_position[Y_AXIS] -= hotend_offset[Y_AXIS][active_extruder] - hotend_offset[Y_AXIS][tmp_extruder];
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current_position[Z_AXIS] -= hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder];
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// Activate the new extruder ahead of calling set_axis_is_at_home!
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active_extruder = tmp_extruder;
|
|
||||||
|
|
||||||
// This function resets the max/min values - the current position may be overwritten below.
|
|
||||||
set_axis_is_at_home(X_AXIS);
|
|
||||||
|
|
||||||
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
|
||||||
if (DEBUGGING(LEVELING)) DEBUG_POS("New Extruder", current_position);
|
|
||||||
#endif
|
|
||||||
|
|
||||||
// Only when auto-parking are carriages safe to move
|
|
||||||
if (dual_x_carriage_mode != DXC_AUTO_PARK_MODE) no_move = true;
|
|
||||||
|
|
||||||
switch (dual_x_carriage_mode) {
|
|
||||||
case DXC_FULL_CONTROL_MODE:
|
|
||||||
// New current position is the position of the activated extruder
|
|
||||||
current_position[X_AXIS] = inactive_extruder_x_pos;
|
|
||||||
// Save the inactive extruder's position (from the old current_position)
|
|
||||||
inactive_extruder_x_pos = destination[X_AXIS];
|
|
||||||
break;
|
|
||||||
case DXC_AUTO_PARK_MODE:
|
|
||||||
// record raised toolhead position for use by unpark
|
|
||||||
COPY(raised_parked_position, current_position);
|
|
||||||
raised_parked_position[Z_AXIS] += TOOLCHANGE_UNPARK_ZLIFT;
|
|
||||||
#if ENABLED(MAX_SOFTWARE_ENDSTOPS)
|
|
||||||
NOMORE(raised_parked_position[Z_AXIS], soft_endstop_max[Z_AXIS]);
|
|
||||||
#endif
|
|
||||||
active_extruder_parked = true;
|
|
||||||
delayed_move_time = 0;
|
|
||||||
break;
|
|
||||||
case DXC_DUPLICATION_MODE:
|
|
||||||
// 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)
|
|
||||||
current_position[X_AXIS] = inactive_extruder_x_pos;
|
|
||||||
else
|
|
||||||
current_position[X_AXIS] = destination[X_AXIS] + duplicate_extruder_x_offset;
|
|
||||||
inactive_extruder_x_pos = destination[X_AXIS];
|
|
||||||
extruder_duplication_enabled = false;
|
|
||||||
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
|
||||||
if (DEBUGGING(LEVELING)) {
|
|
||||||
SERIAL_ECHOLNPAIR("Set inactive_extruder_x_pos=", inactive_extruder_x_pos);
|
|
||||||
SERIAL_ECHOLNPGM("Clear extruder_duplication_enabled");
|
|
||||||
}
|
|
||||||
#endif
|
|
||||||
break;
|
|
||||||
}
|
|
||||||
|
|
||||||
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
|
||||||
if (DEBUGGING(LEVELING)) {
|
|
||||||
SERIAL_ECHOLNPAIR("Active extruder parked: ", active_extruder_parked ? "yes" : "no");
|
|
||||||
DEBUG_POS("New extruder (parked)", current_position);
|
|
||||||
}
|
|
||||||
#endif
|
|
||||||
|
|
||||||
// No extra case for HAS_ABL in DUAL_X_CARRIAGE. Does that mean they don't work together?
|
|
||||||
|
|
||||||
#else // !DUAL_X_CARRIAGE
|
#else // !DUAL_X_CARRIAGE
|
||||||
|
|
||||||
#if ENABLED(PARKING_EXTRUDER) // Dual Parking extruder
|
#if ENABLED(PARKING_EXTRUDER)
|
||||||
float z_raise = PARKING_EXTRUDER_SECURITY_RAISE;
|
parking_extruder_tool_change(tmp_extruder, no_move);
|
||||||
if (!no_move) {
|
#endif
|
||||||
|
|
||||||
const float parkingposx[] = PARKING_EXTRUDER_PARKING_X,
|
|
||||||
midpos = (parkingposx[0] + parkingposx[1]) * 0.5 + hotend_offset[X_AXIS][active_extruder],
|
|
||||||
grabpos = parkingposx[tmp_extruder] + hotend_offset[X_AXIS][active_extruder]
|
|
||||||
+ (tmp_extruder == 0 ? -(PARKING_EXTRUDER_GRAB_DISTANCE) : PARKING_EXTRUDER_GRAB_DISTANCE);
|
|
||||||
/**
|
|
||||||
* Steps:
|
|
||||||
* 1. Raise Z-Axis to give enough clearance
|
|
||||||
* 2. Move to park position of old extruder
|
|
||||||
* 3. Disengage magnetic field, wait for delay
|
|
||||||
* 4. Move near new extruder
|
|
||||||
* 5. Engage magnetic field for new extruder
|
|
||||||
* 6. Move to parking incl. offset of new extruder
|
|
||||||
* 7. Lower Z-Axis
|
|
||||||
*/
|
|
||||||
|
|
||||||
// STEP 1
|
|
||||||
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
|
||||||
SERIAL_ECHOLNPGM("Starting Autopark");
|
|
||||||
if (DEBUGGING(LEVELING)) DEBUG_POS("current position:", current_position);
|
|
||||||
#endif
|
|
||||||
current_position[Z_AXIS] += z_raise;
|
|
||||||
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
|
||||||
SERIAL_ECHOLNPGM("(1) Raise Z-Axis ");
|
|
||||||
if (DEBUGGING(LEVELING)) DEBUG_POS("Moving to Raised Z-Position", current_position);
|
|
||||||
#endif
|
|
||||||
planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
|
|
||||||
stepper.synchronize();
|
|
||||||
|
|
||||||
// STEP 2
|
|
||||||
current_position[X_AXIS] = parkingposx[active_extruder] + hotend_offset[X_AXIS][active_extruder];
|
|
||||||
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
|
||||||
SERIAL_ECHOLNPAIR("(2) Park extruder ", active_extruder);
|
|
||||||
if (DEBUGGING(LEVELING)) DEBUG_POS("Moving ParkPos", current_position);
|
|
||||||
#endif
|
|
||||||
planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
|
|
||||||
stepper.synchronize();
|
|
||||||
|
|
||||||
// STEP 3
|
|
||||||
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
|
||||||
SERIAL_ECHOLNPGM("(3) Disengage magnet ");
|
|
||||||
#endif
|
|
||||||
pe_deactivate_magnet(active_extruder);
|
|
||||||
|
|
||||||
// STEP 4
|
|
||||||
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
|
||||||
SERIAL_ECHOLNPGM("(4) Move to position near new extruder");
|
|
||||||
#endif
|
|
||||||
current_position[X_AXIS] += (active_extruder == 0 ? 10 : -10); // move 10mm away from parked extruder
|
|
||||||
|
|
||||||
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
|
||||||
if (DEBUGGING(LEVELING)) DEBUG_POS("Moving away from parked extruder", current_position);
|
|
||||||
#endif
|
|
||||||
planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
|
|
||||||
stepper.synchronize();
|
|
||||||
|
|
||||||
// STEP 5
|
|
||||||
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
|
||||||
SERIAL_ECHOLNPGM("(5) Engage magnetic field");
|
|
||||||
#endif
|
|
||||||
|
|
||||||
#if ENABLED(PARKING_EXTRUDER_SOLENOIDS_INVERT)
|
|
||||||
pe_activate_magnet(active_extruder); //just save power for inverted magnets
|
|
||||||
#endif
|
|
||||||
pe_activate_magnet(tmp_extruder);
|
|
||||||
|
|
||||||
// STEP 6
|
|
||||||
current_position[X_AXIS] = grabpos + (tmp_extruder == 0 ? (+10) : (-10));
|
|
||||||
planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
|
|
||||||
current_position[X_AXIS] = grabpos;
|
|
||||||
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
|
||||||
SERIAL_ECHOLNPAIR("(6) Unpark extruder ", tmp_extruder);
|
|
||||||
if (DEBUGGING(LEVELING)) DEBUG_POS("Move UnparkPos", current_position);
|
|
||||||
#endif
|
|
||||||
planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS]/2, active_extruder);
|
|
||||||
stepper.synchronize();
|
|
||||||
|
|
||||||
// Step 7
|
|
||||||
current_position[X_AXIS] = midpos - hotend_offset[X_AXIS][tmp_extruder];
|
|
||||||
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
|
||||||
SERIAL_ECHOLNPGM("(7) Move midway between hotends");
|
|
||||||
if (DEBUGGING(LEVELING)) DEBUG_POS("Move midway to new extruder", current_position);
|
|
||||||
#endif
|
|
||||||
planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
|
|
||||||
stepper.synchronize();
|
|
||||||
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
|
||||||
SERIAL_ECHOLNPGM("Autopark done.");
|
|
||||||
#endif
|
|
||||||
}
|
|
||||||
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)
|
#if ENABLED(SWITCHING_NOZZLE)
|
||||||
#define DONT_SWITCH (SWITCHING_EXTRUDER_SERVO_NR == SWITCHING_NOZZLE_SERVO_NR)
|
#define DONT_SWITCH (SWITCHING_EXTRUDER_SERVO_NR == SWITCHING_NOZZLE_SERVO_NR)
|
||||||
|
|
|
||||||
Reference in a new issue