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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@ -115,162 +115,9 @@
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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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constexpr float z_raise = PARKING_EXTRUDER_SECURITY_RAISE;
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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_CHAR('T');
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SERIAL_ECHO_F(e, DEC);
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SERIAL_CHAR(' ');
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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 (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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#if ENABLED(DUAL_X_CARRIAGE)
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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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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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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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#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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@ -368,13 +215,181 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
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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][tmp_extruder] - hotend_offset[Z_AXIS][active_extruder]; // Apply Zoffset
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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 // dualParking extruder
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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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SERIAL_CHAR('T');
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SERIAL_ECHO_F(e, DEC);
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SERIAL_CHAR(' ');
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SERIAL_ECHOLNPGM(MSG_INVALID_EXTRUDER);
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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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* 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 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)
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parking_extruder_tool_change(tmp_extruder, no_move);
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#endif
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#if ENABLED(SWITCHING_NOZZLE)
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#define DONT_SWITCH (SWITCHING_EXTRUDER_SERVO_NR == SWITCHING_NOZZLE_SERVO_NR)
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