Simplified leveling-based tool change
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@ -116,8 +116,6 @@
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}
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}
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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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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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if (!no_move) {
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const float parkingposx[] = PARKING_EXTRUDER_PARKING_X,
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const float parkingposx[] = PARKING_EXTRUDER_PARKING_X,
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@ -140,7 +138,7 @@
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SERIAL_ECHOLNPGM("Starting Autopark");
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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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if (DEBUGGING(LEVELING)) DEBUG_POS("current position:", current_position);
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#endif
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#endif
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current_position[Z_AXIS] += z_raise;
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current_position[Z_AXIS] += PARKING_EXTRUDER_SECURITY_RAISE;
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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SERIAL_ECHOLNPGM("(1) Raise Z-Axis ");
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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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if (DEBUGGING(LEVELING)) DEBUG_POS("Moving to Raised Z-Position", current_position);
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@ -350,6 +348,8 @@ inline void invalid_extruder_error(const uint8_t e) {
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#endif // DUAL_X_CARRIAGE
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#endif // DUAL_X_CARRIAGE
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#define DO_SWITCH_EXTRUDER (SWITCHING_EXTRUDER_SERVO_NR != SWITCHING_NOZZLE_SERVO_NR)
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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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@ -381,127 +381,53 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
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// Save current position to destination, for use later
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// Save current position to destination, for use later
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set_destination_from_current();
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set_destination_from_current();
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#if HAS_LEVELING
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// Set current position to the physical position
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const bool leveling_was_active = planner.leveling_active;
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set_bed_leveling_enabled(false);
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#endif
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#if ENABLED(DUAL_X_CARRIAGE)
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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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dualx_tool_change(tmp_extruder, no_move); // Can modify no_move
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#else // !DUAL_X_CARRIAGE
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#else // !DUAL_X_CARRIAGE
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#if ENABLED(PARKING_EXTRUDER)
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#if ENABLED(PARKING_EXTRUDER) // Dual Parking extruder
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parking_extruder_tool_change(tmp_extruder, no_move);
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parking_extruder_tool_change(tmp_extruder, no_move);
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#endif
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#endif
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#if ENABLED(SWITCHING_NOZZLE)
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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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// Always raise by at least 0.3
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// <0 if the new nozzle is higher, >0 if lower. A bigger raise when lower.
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const float z_diff = hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder];
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const float z_diff = hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder],
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current_position[Z_AXIS] += (z_diff > 0.0 ? z_diff : 0.0) + 0.3;
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z_raise = 0.3 + (z_diff > 0.0 ? z_diff : 0.0);
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// Always raise by some amount
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current_position[Z_AXIS] += z_raise;
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planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
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planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
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move_nozzle_servo(tmp_extruder);
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move_nozzle_servo(tmp_extruder);
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#endif
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#endif
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/**
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const float xdiff = hotend_offset[X_AXIS][tmp_extruder] - hotend_offset[X_AXIS][active_extruder],
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* Set current_position to the position of the new nozzle.
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ydiff = hotend_offset[Y_AXIS][tmp_extruder] - hotend_offset[Y_AXIS][active_extruder];
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* Offsets are based on linear distance, so we need to get
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* the resulting position in coordinate space.
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*
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* - With grid or 3-point leveling, offset XYZ by a tilted vector
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* - With mesh leveling, update Z for the new position
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* - Otherwise, just use the raw linear distance
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*
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* Software endstops are altered here too. Consider a case where:
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* E0 at X=0 ... E1 at X=10
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* When we switch to E1 now X=10, but E1 can't move left.
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* To express this we apply the change in XY to the software endstops.
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* E1 can move farther right than E0, so the right limit is extended.
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*
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* Note that we don't adjust the Z software endstops. Why not?
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* Consider a case where Z=0 (here) and switching to E1 makes Z=1
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* because the bed is 1mm lower at the new position. As long as
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* the first nozzle is out of the way, the carriage should be
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* allowed to move 1mm lower. This technically "breaks" the
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* Z software endstop. But this is technically correct (and
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* there is no viable alternative).
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*/
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#if ABL_PLANAR
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// Offset extruder, make sure to apply the bed level rotation matrix
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vector_3 tmp_offset_vec = vector_3(hotend_offset[X_AXIS][tmp_extruder],
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hotend_offset[Y_AXIS][tmp_extruder],
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0),
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act_offset_vec = vector_3(hotend_offset[X_AXIS][active_extruder],
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hotend_offset[Y_AXIS][active_extruder],
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0),
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offset_vec = tmp_offset_vec - act_offset_vec;
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) {
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tmp_offset_vec.debug(PSTR("tmp_offset_vec"));
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act_offset_vec.debug(PSTR("act_offset_vec"));
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offset_vec.debug(PSTR("offset_vec (BEFORE)"));
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}
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#endif
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offset_vec.apply_rotation(planner.bed_level_matrix.transpose(planner.bed_level_matrix));
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) offset_vec.debug(PSTR("offset_vec (AFTER)"));
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#endif
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// Adjustments to the current position
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const float xydiff[2] = { offset_vec.x, offset_vec.y };
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current_position[Z_AXIS] += offset_vec.z;
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#else // !ABL_PLANAR
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const float xydiff[2] = {
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hotend_offset[X_AXIS][tmp_extruder] - hotend_offset[X_AXIS][active_extruder],
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hotend_offset[Y_AXIS][tmp_extruder] - hotend_offset[Y_AXIS][active_extruder]
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};
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#if HAS_MESH && PLANNER_LEVELING
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if (planner.leveling_active) {
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) SERIAL_ECHOPAIR("Z before: ", current_position[Z_AXIS]);
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#endif
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float x2 = current_position[X_AXIS] + xydiff[X_AXIS],
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y2 = current_position[Y_AXIS] + xydiff[Y_AXIS],
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z1 = current_position[Z_AXIS], z2 = z1;
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planner.apply_leveling(current_position[X_AXIS], current_position[Y_AXIS], z1);
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planner.apply_leveling(x2, y2, z2);
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current_position[Z_AXIS] += z2 - z1;
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING))
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SERIAL_ECHOLNPAIR(" after: ", current_position[Z_AXIS]);
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#endif
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}
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#endif // HAS_MESH && PLANNER_LEVELING
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#endif // !HAS_ABL
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) {
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if (DEBUGGING(LEVELING)) {
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SERIAL_ECHOPAIR("Offset Tool XY by { ", xydiff[X_AXIS]);
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SERIAL_ECHOPAIR("Offset Tool XY by { ", xdiff);
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SERIAL_ECHOPAIR(", ", xydiff[Y_AXIS]);
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SERIAL_ECHOPAIR(", ", ydiff);
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SERIAL_ECHOLNPGM(" }");
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SERIAL_ECHOLNPGM(" }");
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}
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}
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#endif
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#endif
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// The newly-selected extruder XY is actually at...
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// The newly-selected extruder XY is actually at...
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current_position[X_AXIS] += xydiff[X_AXIS];
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current_position[X_AXIS] += xdiff;
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current_position[Y_AXIS] += xydiff[Y_AXIS];
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current_position[Y_AXIS] += ydiff;
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// Set the new active extruder
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// Set the new active extruder
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active_extruder = tmp_extruder;
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active_extruder = tmp_extruder;
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#endif // !DUAL_X_CARRIAGE
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#endif // !DUAL_X_CARRIAGE
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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#if HAS_LEVELING
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if (DEBUGGING(LEVELING)) DEBUG_POS("Sync After Toolchange", current_position);
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// Restore leveling to re-establish the logical position
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set_bed_leveling_enabled(leveling_was_active);
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#endif
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#endif
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// Tell the planner the new "current position"
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// Tell the planner the new "current position"
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@ -509,17 +435,11 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
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#if ENABLED(DELTA)
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#if ENABLED(DELTA)
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//LOOP_XYZ(i) update_software_endstops(i); // or modify the constrain function
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//LOOP_XYZ(i) update_software_endstops(i); // or modify the constrain function
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// Do a small lift to avoid the workpiece in the move back (below)
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const bool safe_to_move = current_position[Z_AXIS] < delta_clip_start_height - 1;
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const bool safe_to_move = current_position[Z_AXIS] < delta_clip_start_height - 1;
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if (safe_to_move && !no_move && IsRunning()) {
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++current_position[Z_AXIS];
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planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
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}
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#else
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#else
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constexpr bool safe_to_move = true;
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constexpr bool safe_to_move = true;
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#endif
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#endif
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// Move to the "old position" (move the extruder into place)
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#if ENABLED(SWITCHING_NOZZLE)
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#if ENABLED(SWITCHING_NOZZLE)
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destination[Z_AXIS] += z_diff; // Include the Z restore with the "move back"
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destination[Z_AXIS] += z_diff; // Include the Z restore with the "move back"
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#endif
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#endif
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@ -544,7 +464,7 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
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#if ENABLED(EXT_SOLENOID) && !ENABLED(PARKING_EXTRUDER)
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#if ENABLED(EXT_SOLENOID) && !ENABLED(PARKING_EXTRUDER)
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disable_all_solenoids();
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disable_all_solenoids();
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enable_solenoid_on_active_extruder();
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enable_solenoid_on_active_extruder();
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#endif // EXT_SOLENOID
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#endif
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feedrate_mm_s = old_feedrate_mm_s;
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feedrate_mm_s = old_feedrate_mm_s;
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@ -565,7 +485,7 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
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#endif // HOTENDS <= 1
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#endif // HOTENDS <= 1
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#if ENABLED(SWITCHING_EXTRUDER) && !DONT_SWITCH
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#if DO_SWITCH_EXTRUDER
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stepper.synchronize();
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stepper.synchronize();
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move_extruder_servo(active_extruder);
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move_extruder_servo(active_extruder);
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#endif
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#endif
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