Merge pull request #10257 from thinkyhead/bf2_tool_change_debug
This commit is contained in:
Scott Lahteine
GitHub
commit
241996d5d6
|
|
@ -138,30 +138,16 @@ void set_bed_leveling_enabled(const bool enable/*=true*/) {
|
||||||
|
|
||||||
void set_z_fade_height(const float zfh, const bool do_report/*=true*/) {
|
void set_z_fade_height(const float zfh, const bool do_report/*=true*/) {
|
||||||
|
|
||||||
if (planner.z_fade_height == zfh) return; // do nothing if no change
|
if (planner.z_fade_height == zfh) return;
|
||||||
|
|
||||||
const bool level_active = planner.leveling_active;
|
const bool leveling_was_active = planner.leveling_active;
|
||||||
|
set_bed_leveling_enabled(false);
|
||||||
#if ENABLED(AUTO_BED_LEVELING_UBL)
|
|
||||||
if (level_active) set_bed_leveling_enabled(false); // turn off before changing fade height for proper apply/unapply leveling to maintain current_position
|
|
||||||
#endif
|
|
||||||
|
|
||||||
planner.set_z_fade_height(zfh);
|
planner.set_z_fade_height(zfh);
|
||||||
|
|
||||||
if (level_active) {
|
if (leveling_was_active) {
|
||||||
const float oldpos[] = { current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] };
|
const float oldpos[] = { current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] };
|
||||||
#if ENABLED(AUTO_BED_LEVELING_UBL)
|
set_bed_leveling_enabled(true);
|
||||||
set_bed_leveling_enabled(true); // turn back on after changing fade height
|
|
||||||
#else
|
|
||||||
set_current_from_steppers_for_axis(
|
|
||||||
#if ABL_PLANAR
|
|
||||||
ALL_AXES
|
|
||||||
#else
|
|
||||||
Z_AXIS
|
|
||||||
#endif
|
|
||||||
);
|
|
||||||
SYNC_PLAN_POSITION_KINEMATIC();
|
|
||||||
#endif
|
|
||||||
if (do_report && memcmp(oldpos, current_position, sizeof(oldpos)))
|
if (do_report && memcmp(oldpos, current_position, sizeof(oldpos)))
|
||||||
report_current_position();
|
report_current_position();
|
||||||
}
|
}
|
||||||
|
|
|
||||||
|
|
@ -179,7 +179,7 @@ void GcodeSuite::G28(const bool always_home_all) {
|
||||||
// Disable the leveling matrix before homing
|
// Disable the leveling matrix before homing
|
||||||
#if HAS_LEVELING
|
#if HAS_LEVELING
|
||||||
#if ENABLED(RESTORE_LEVELING_AFTER_G28)
|
#if ENABLED(RESTORE_LEVELING_AFTER_G28)
|
||||||
const bool leveling_state_at_entry = planner.leveling_active;
|
const bool leveling_was_active = planner.leveling_active;
|
||||||
#endif
|
#endif
|
||||||
set_bed_leveling_enabled(false);
|
set_bed_leveling_enabled(false);
|
||||||
#endif
|
#endif
|
||||||
|
|
@ -326,7 +326,7 @@ void GcodeSuite::G28(const bool always_home_all) {
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
#if ENABLED(RESTORE_LEVELING_AFTER_G28)
|
#if ENABLED(RESTORE_LEVELING_AFTER_G28)
|
||||||
set_bed_leveling_enabled(leveling_state_at_entry);
|
set_bed_leveling_enabled(leveling_was_active);
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
clean_up_after_endstop_or_probe_move();
|
clean_up_after_endstop_or_probe_move();
|
||||||
|
|
|
||||||
|
|
@ -115,8 +115,112 @@
|
||||||
#endif
|
#endif
|
||||||
}
|
}
|
||||||
|
|
||||||
#endif // PARKING_EXTRUDER
|
inline void parking_extruder_tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool no_move/*=false*/) {
|
||||||
|
if (!no_move) {
|
||||||
|
|
||||||
|
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] += PARKING_EXTRUDER_SECURITY_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][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder];
|
||||||
|
|
||||||
|
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
||||||
|
if (DEBUGGING(LEVELING)) DEBUG_POS("Applying Z-offset", current_position);
|
||||||
|
#endif
|
||||||
|
}
|
||||||
|
|
||||||
|
#endif // PARKING_EXTRUDER
|
||||||
|
|
||||||
inline void invalid_extruder_error(const uint8_t e) {
|
inline void invalid_extruder_error(const uint8_t e) {
|
||||||
SERIAL_ECHO_START();
|
SERIAL_ECHO_START();
|
||||||
|
|
@ -126,6 +230,126 @@ inline void invalid_extruder_error(const uint8_t e) {
|
||||||
SERIAL_ECHOLNPGM(MSG_INVALID_EXTRUDER);
|
SERIAL_ECHOLNPGM(MSG_INVALID_EXTRUDER);
|
||||||
}
|
}
|
||||||
|
|
||||||
|
#if ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1
|
||||||
|
|
||||||
|
inline void mixing_tool_change(const uint8_t tmp_extruder) {
|
||||||
|
if (tmp_extruder >= MIXING_VIRTUAL_TOOLS)
|
||||||
|
return invalid_extruder_error(tmp_extruder);
|
||||||
|
|
||||||
|
// T0-Tnnn: Switch virtual tool by changing the mix
|
||||||
|
for (uint8_t j = 0; j < MIXING_STEPPERS; j++)
|
||||||
|
mixing_factor[j] = mixing_virtual_tool_mix[tmp_extruder][j];
|
||||||
|
}
|
||||||
|
|
||||||
|
#endif // MIXING_EXTRUDER && MIXING_VIRTUAL_TOOLS > 1
|
||||||
|
|
||||||
|
#if ENABLED(DUAL_X_CARRIAGE)
|
||||||
|
|
||||||
|
inline void dualx_tool_change(const uint8_t tmp_extruder, bool &no_move) {
|
||||||
|
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
||||||
|
if (DEBUGGING(LEVELING)) {
|
||||||
|
SERIAL_ECHOPGM("Dual X Carriage Mode ");
|
||||||
|
switch (dual_x_carriage_mode) {
|
||||||
|
case DXC_FULL_CONTROL_MODE: SERIAL_ECHOLNPGM("DXC_FULL_CONTROL_MODE"); break;
|
||||||
|
case DXC_AUTO_PARK_MODE: SERIAL_ECHOLNPGM("DXC_AUTO_PARK_MODE"); break;
|
||||||
|
case DXC_DUPLICATION_MODE: SERIAL_ECHOLNPGM("DXC_DUPLICATION_MODE"); break;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
|
||||||
|
const float xhome = 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 (DEBUGGING(LEVELING)) {
|
||||||
|
SERIAL_ECHOLNPAIR("Raise to ", raised_z);
|
||||||
|
SERIAL_ECHOLNPAIR("MoveX to ", xhome);
|
||||||
|
SERIAL_ECHOLNPAIR("Lower to ", current_position[Z_AXIS]);
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
// Park old head: 1) raise 2) move to park position 3) lower
|
||||||
|
for (uint8_t i = 0; i < 3; i++)
|
||||||
|
planner.buffer_line(
|
||||||
|
i == 0 ? current_position[X_AXIS] : xhome,
|
||||||
|
current_position[Y_AXIS],
|
||||||
|
i == 2 ? current_position[Z_AXIS] : raised_z,
|
||||||
|
current_position[E_AXIS],
|
||||||
|
planner.max_feedrate_mm_s[i == 1 ? X_AXIS : Z_AXIS],
|
||||||
|
active_extruder
|
||||||
|
);
|
||||||
|
stepper.synchronize();
|
||||||
|
}
|
||||||
|
|
||||||
|
// 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[Z_AXIS] -= hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder];
|
||||||
|
|
||||||
|
// Activate the new extruder ahead of calling set_axis_is_at_home!
|
||||||
|
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);
|
||||||
|
current_position[X_AXIS] = active_extruder_parked ? inactive_extruder_x_pos : 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?
|
||||||
|
}
|
||||||
|
|
||||||
|
#endif // DUAL_X_CARRIAGE
|
||||||
|
|
||||||
|
#define DO_SWITCH_EXTRUDER (SWITCHING_EXTRUDER_SERVO_NR != SWITCHING_NOZZLE_SERVO_NR)
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* Perform a tool-change, which may result in moving the
|
* Perform a tool-change, which may result in moving the
|
||||||
* previous tool out of the way and the new tool into place.
|
* previous tool out of the way and the new tool into place.
|
||||||
|
|
@ -133,12 +357,7 @@ 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)
|
mixing_tool_change(tmp_extruder);
|
||||||
return invalid_extruder_error(tmp_extruder);
|
|
||||||
|
|
||||||
// T0-Tnnn: Switch virtual tool by changing the mix
|
|
||||||
for (uint8_t j = 0; j < MIXING_STEPPERS; j++)
|
|
||||||
mixing_factor[j] = mixing_virtual_tool_mix[tmp_extruder][j];
|
|
||||||
|
|
||||||
#else // !MIXING_EXTRUDER || MIXING_VIRTUAL_TOOLS <= 1
|
#else // !MIXING_EXTRUDER || MIXING_VIRTUAL_TOOLS <= 1
|
||||||
|
|
||||||
|
|
@ -162,331 +381,53 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
|
||||||
// Save current position to destination, for use later
|
// Save current position to destination, for use later
|
||||||
set_destination_from_current();
|
set_destination_from_current();
|
||||||
|
|
||||||
|
#if HAS_LEVELING
|
||||||
|
// Set current position to the physical position
|
||||||
|
const bool leveling_was_active = planner.leveling_active;
|
||||||
|
set_bed_leveling_enabled(false);
|
||||||
|
#endif
|
||||||
|
|
||||||
#if ENABLED(DUAL_X_CARRIAGE)
|
#if ENABLED(DUAL_X_CARRIAGE)
|
||||||
|
|
||||||
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
dualx_tool_change(tmp_extruder, no_move); // Can modify no_move
|
||||||
if (DEBUGGING(LEVELING)) {
|
|
||||||
SERIAL_ECHOPGM("Dual X Carriage Mode ");
|
|
||||||
switch (dual_x_carriage_mode) {
|
|
||||||
case DXC_FULL_CONTROL_MODE: SERIAL_ECHOLNPGM("DXC_FULL_CONTROL_MODE"); break;
|
|
||||||
case DXC_AUTO_PARK_MODE: SERIAL_ECHOLNPGM("DXC_AUTO_PARK_MODE"); break;
|
|
||||||
case DXC_DUPLICATION_MODE: SERIAL_ECHOLNPGM("DXC_DUPLICATION_MODE"); break;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
#endif
|
|
||||||
|
|
||||||
const float xhome = 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 (DEBUGGING(LEVELING)) {
|
|
||||||
SERIAL_ECHOLNPAIR("Raise to ", raised_z);
|
|
||||||
SERIAL_ECHOLNPAIR("MoveX to ", xhome);
|
|
||||||
SERIAL_ECHOLNPAIR("Lower to ", current_position[Z_AXIS]);
|
|
||||||
}
|
|
||||||
#endif
|
|
||||||
// Park old head: 1) raise 2) move to park position 3) lower
|
|
||||||
for (uint8_t i = 0; i < 3; i++)
|
|
||||||
planner.buffer_line(
|
|
||||||
i == 0 ? current_position[X_AXIS] : xhome,
|
|
||||||
current_position[Y_AXIS],
|
|
||||||
i == 2 ? current_position[Z_AXIS] : raised_z,
|
|
||||||
current_position[E_AXIS],
|
|
||||||
planner.max_feedrate_mm_s[i == 1 ? X_AXIS : Z_AXIS],
|
|
||||||
active_extruder
|
|
||||||
);
|
|
||||||
stepper.synchronize();
|
|
||||||
}
|
|
||||||
|
|
||||||
// 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[Z_AXIS] -= hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder];
|
|
||||||
|
|
||||||
// Activate the new extruder ahead of calling set_axis_is_at_home!
|
|
||||||
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) // Dual 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)
|
// Always raise by at least 0.3
|
||||||
// <0 if the new nozzle is higher, >0 if lower. A bigger raise when lower.
|
const float z_diff = hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder];
|
||||||
const float z_diff = hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder],
|
current_position[Z_AXIS] += (z_diff > 0.0 ? z_diff : 0.0) + 0.3;
|
||||||
z_raise = 0.3 + (z_diff > 0.0 ? z_diff : 0.0);
|
|
||||||
|
|
||||||
// Always raise by some amount
|
|
||||||
current_position[Z_AXIS] += z_raise;
|
|
||||||
planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
|
planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
|
||||||
move_nozzle_servo(tmp_extruder);
|
move_nozzle_servo(tmp_extruder);
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
/**
|
const float xdiff = hotend_offset[X_AXIS][tmp_extruder] - hotend_offset[X_AXIS][active_extruder],
|
||||||
* Set current_position to the position of the new nozzle.
|
ydiff = hotend_offset[Y_AXIS][tmp_extruder] - hotend_offset[Y_AXIS][active_extruder];
|
||||||
* Offsets are based on linear distance, so we need to get
|
|
||||||
* the resulting position in coordinate space.
|
|
||||||
*
|
|
||||||
* - With grid or 3-point leveling, offset XYZ by a tilted vector
|
|
||||||
* - With mesh leveling, update Z for the new position
|
|
||||||
* - Otherwise, just use the raw linear distance
|
|
||||||
*
|
|
||||||
* Software endstops are altered here too. Consider a case where:
|
|
||||||
* E0 at X=0 ... E1 at X=10
|
|
||||||
* When we switch to E1 now X=10, but E1 can't move left.
|
|
||||||
* To express this we apply the change in XY to the software endstops.
|
|
||||||
* E1 can move farther right than E0, so the right limit is extended.
|
|
||||||
*
|
|
||||||
* Note that we don't adjust the Z software endstops. Why not?
|
|
||||||
* Consider a case where Z=0 (here) and switching to E1 makes Z=1
|
|
||||||
* because the bed is 1mm lower at the new position. As long as
|
|
||||||
* the first nozzle is out of the way, the carriage should be
|
|
||||||
* allowed to move 1mm lower. This technically "breaks" the
|
|
||||||
* Z software endstop. But this is technically correct (and
|
|
||||||
* there is no viable alternative).
|
|
||||||
*/
|
|
||||||
#if ABL_PLANAR
|
|
||||||
// Offset extruder, make sure to apply the bed level rotation matrix
|
|
||||||
vector_3 tmp_offset_vec = vector_3(hotend_offset[X_AXIS][tmp_extruder],
|
|
||||||
hotend_offset[Y_AXIS][tmp_extruder],
|
|
||||||
0),
|
|
||||||
act_offset_vec = vector_3(hotend_offset[X_AXIS][active_extruder],
|
|
||||||
hotend_offset[Y_AXIS][active_extruder],
|
|
||||||
0),
|
|
||||||
offset_vec = tmp_offset_vec - act_offset_vec;
|
|
||||||
|
|
||||||
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
|
||||||
if (DEBUGGING(LEVELING)) {
|
|
||||||
tmp_offset_vec.debug(PSTR("tmp_offset_vec"));
|
|
||||||
act_offset_vec.debug(PSTR("act_offset_vec"));
|
|
||||||
offset_vec.debug(PSTR("offset_vec (BEFORE)"));
|
|
||||||
}
|
|
||||||
#endif
|
|
||||||
|
|
||||||
offset_vec.apply_rotation(planner.bed_level_matrix.transpose(planner.bed_level_matrix));
|
|
||||||
|
|
||||||
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
|
||||||
if (DEBUGGING(LEVELING)) offset_vec.debug(PSTR("offset_vec (AFTER)"));
|
|
||||||
#endif
|
|
||||||
|
|
||||||
// Adjustments to the current position
|
|
||||||
const float xydiff[2] = { offset_vec.x, offset_vec.y };
|
|
||||||
current_position[Z_AXIS] += offset_vec.z;
|
|
||||||
|
|
||||||
#else // !ABL_PLANAR
|
|
||||||
|
|
||||||
const float xydiff[2] = {
|
|
||||||
hotend_offset[X_AXIS][tmp_extruder] - hotend_offset[X_AXIS][active_extruder],
|
|
||||||
hotend_offset[Y_AXIS][tmp_extruder] - hotend_offset[Y_AXIS][active_extruder]
|
|
||||||
};
|
|
||||||
|
|
||||||
#if HAS_MESH && PLANNER_LEVELING
|
|
||||||
|
|
||||||
if (planner.leveling_active) {
|
|
||||||
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
|
||||||
if (DEBUGGING(LEVELING)) SERIAL_ECHOPAIR("Z before: ", current_position[Z_AXIS]);
|
|
||||||
#endif
|
|
||||||
float x2 = current_position[X_AXIS] + xydiff[X_AXIS],
|
|
||||||
y2 = current_position[Y_AXIS] + xydiff[Y_AXIS],
|
|
||||||
z1 = current_position[Z_AXIS], z2 = z1;
|
|
||||||
planner.apply_leveling(current_position[X_AXIS], current_position[Y_AXIS], z1);
|
|
||||||
planner.apply_leveling(x2, y2, z2);
|
|
||||||
current_position[Z_AXIS] += z2 - z1;
|
|
||||||
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
|
||||||
if (DEBUGGING(LEVELING))
|
|
||||||
SERIAL_ECHOLNPAIR(" after: ", current_position[Z_AXIS]);
|
|
||||||
#endif
|
|
||||||
}
|
|
||||||
|
|
||||||
#endif // HAS_MESH && PLANNER_LEVELING
|
|
||||||
|
|
||||||
#endif // !HAS_ABL
|
|
||||||
|
|
||||||
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
||||||
if (DEBUGGING(LEVELING)) {
|
if (DEBUGGING(LEVELING)) {
|
||||||
SERIAL_ECHOPAIR("Offset Tool XY by { ", xydiff[X_AXIS]);
|
SERIAL_ECHOPAIR("Offset Tool XY by { ", xdiff);
|
||||||
SERIAL_ECHOPAIR(", ", xydiff[Y_AXIS]);
|
SERIAL_ECHOPAIR(", ", ydiff);
|
||||||
SERIAL_ECHOLNPGM(" }");
|
SERIAL_ECHOLNPGM(" }");
|
||||||
}
|
}
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
// The newly-selected extruder XY is actually at...
|
// The newly-selected extruder XY is actually at...
|
||||||
current_position[X_AXIS] += xydiff[X_AXIS];
|
current_position[X_AXIS] += xdiff;
|
||||||
current_position[Y_AXIS] += xydiff[Y_AXIS];
|
current_position[Y_AXIS] += ydiff;
|
||||||
|
|
||||||
// Set the new active extruder
|
// Set the new active extruder
|
||||||
active_extruder = tmp_extruder;
|
active_extruder = tmp_extruder;
|
||||||
|
|
||||||
#endif // !DUAL_X_CARRIAGE
|
#endif // !DUAL_X_CARRIAGE
|
||||||
|
|
||||||
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
#if HAS_LEVELING
|
||||||
if (DEBUGGING(LEVELING)) DEBUG_POS("Sync After Toolchange", current_position);
|
// Restore leveling to re-establish the logical position
|
||||||
|
set_bed_leveling_enabled(leveling_was_active);
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
// Tell the planner the new "current position"
|
// Tell the planner the new "current position"
|
||||||
|
|
@ -494,22 +435,20 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
|
||||||
|
|
||||||
#if ENABLED(DELTA)
|
#if ENABLED(DELTA)
|
||||||
//LOOP_XYZ(i) update_software_endstops(i); // or modify the constrain function
|
//LOOP_XYZ(i) update_software_endstops(i); // or modify the constrain function
|
||||||
// Do a small lift to avoid the workpiece in the move back (below)
|
|
||||||
const bool safe_to_move = current_position[Z_AXIS] < delta_clip_start_height - 1;
|
const bool safe_to_move = current_position[Z_AXIS] < delta_clip_start_height - 1;
|
||||||
if (safe_to_move && !no_move && IsRunning()) {
|
|
||||||
++current_position[Z_AXIS];
|
|
||||||
planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
|
|
||||||
}
|
|
||||||
#else
|
#else
|
||||||
constexpr bool safe_to_move = true;
|
constexpr bool safe_to_move = true;
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
// Move to the "old position" (move the extruder into place)
|
|
||||||
#if ENABLED(SWITCHING_NOZZLE)
|
#if ENABLED(SWITCHING_NOZZLE)
|
||||||
destination[Z_AXIS] += z_diff; // Include the Z restore with the "move back"
|
destination[Z_AXIS] += z_diff; // Include the Z restore with the "move back"
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
|
// Raise, move, and lower again
|
||||||
if (safe_to_move && !no_move && IsRunning()) {
|
if (safe_to_move && !no_move && IsRunning()) {
|
||||||
|
// Do a small lift to avoid the workpiece in the move back (below)
|
||||||
|
current_position[Z_AXIS] += 1.0;
|
||||||
|
planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
|
||||||
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
||||||
if (DEBUGGING(LEVELING)) DEBUG_POS("Move back", destination);
|
if (DEBUGGING(LEVELING)) DEBUG_POS("Move back", destination);
|
||||||
#endif
|
#endif
|
||||||
|
|
@ -529,7 +468,7 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
|
||||||
#if ENABLED(EXT_SOLENOID) && !ENABLED(PARKING_EXTRUDER)
|
#if ENABLED(EXT_SOLENOID) && !ENABLED(PARKING_EXTRUDER)
|
||||||
disable_all_solenoids();
|
disable_all_solenoids();
|
||||||
enable_solenoid_on_active_extruder();
|
enable_solenoid_on_active_extruder();
|
||||||
#endif // EXT_SOLENOID
|
#endif
|
||||||
|
|
||||||
feedrate_mm_s = old_feedrate_mm_s;
|
feedrate_mm_s = old_feedrate_mm_s;
|
||||||
|
|
||||||
|
|
@ -550,7 +489,7 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
|
||||||
|
|
||||||
#endif // HOTENDS <= 1
|
#endif // HOTENDS <= 1
|
||||||
|
|
||||||
#if ENABLED(SWITCHING_EXTRUDER) && !DONT_SWITCH
|
#if DO_SWITCH_EXTRUDER
|
||||||
stepper.synchronize();
|
stepper.synchronize();
|
||||||
move_extruder_servo(active_extruder);
|
move_extruder_servo(active_extruder);
|
||||||
#endif
|
#endif
|
||||||
|
|
|
||||||
Loading…
Reference in a new issue