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Fix up fwretract handling

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This commit is contained in:
Scott Lahteine 2018-05-03 19:08:49 -05:00
parent bfe223e120
commit 62e7a9c671
1 changed files with 21 additions and 24 deletions
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35
Marlin/src/feature/fwretract.cpp
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@ -108,7 +108,7 @@ void FWRetract::retract(const bool retracting
// G11 priority to recover the long retract if activated // G11 priority to recover the long retract if activated
if (!retracting) swapping = retracted_swap[active_extruder]; if (!retracting) swapping = retracted_swap[active_extruder];
#else #else
const bool swapping = false; constexpr bool swapping = false;
#endif #endif
/* // debugging /* // debugging
@ -118,62 +118,57 @@ void FWRetract::retract(const bool retracting
for (uint8_t i = 0; i < EXTRUDERS; ++i) { for (uint8_t i = 0; i < EXTRUDERS; ++i) {
SERIAL_ECHOPAIR("retracted[", i); SERIAL_ECHOPAIR("retracted[", i);
SERIAL_ECHOLNPAIR("] ", retracted[i]); SERIAL_ECHOLNPAIR("] ", retracted[i]);
#if EXTRUDERS > 1
SERIAL_ECHOPAIR("retracted_swap[", i); SERIAL_ECHOPAIR("retracted_swap[", i);
SERIAL_ECHOLNPAIR("] ", retracted_swap[i]); SERIAL_ECHOLNPAIR("] ", retracted_swap[i]);
#endif
} }
SERIAL_ECHOLNPAIR("current_position[z] ", current_position[Z_AXIS]); SERIAL_ECHOLNPAIR("current_position[z] ", current_position[Z_AXIS]);
SERIAL_ECHOLNPAIR("current_position[e] ", current_position[E_AXIS]); SERIAL_ECHOLNPAIR("current_position[e] ", current_position[E_AXIS]);
SERIAL_ECHOLNPAIR("hop_amount ", hop_amount); SERIAL_ECHOLNPAIR("hop_amount ", hop_amount);
//*/ //*/
const float old_feedrate_mm_s = feedrate_mm_s; const float old_feedrate_mm_s = feedrate_mm_s,
renormalize = RECIPROCAL(planner.e_factor[active_extruder]),
base_retract = swapping ? swap_retract_length : retract_length,
old_z = current_position[Z_AXIS],
old_e = current_position[E_AXIS];
// The current position will be the destination for E and Z moves // The current position will be the destination for E and Z moves
set_destination_from_current(); set_destination_from_current();
stepper.synchronize(); // Wait for buffered moves to complete
const float renormalize = 1.0 / planner.e_factor[active_extruder];
if (retracting) { if (retracting) {
// Retract by moving from a faux E position back to the current E position // Retract by moving from a faux E position back to the current E position
feedrate_mm_s = retract_feedrate_mm_s; feedrate_mm_s = retract_feedrate_mm_s;
current_position[E_AXIS] += (swapping ? swap_retract_length : retract_length) * renormalize; destination[E_AXIS] -= base_retract * renormalize;
sync_plan_position_e();
prepare_move_to_destination(); // set_current_to_destination prepare_move_to_destination(); // set_current_to_destination
// Is a Z hop set, and has the hop not yet been done? // Is a Z hop set, and has the hop not yet been done?
// No double zlifting
// Feedrate to the max
if (retract_zlift > 0.01 && !hop_amount) { // Apply hop only once if (retract_zlift > 0.01 && !hop_amount) { // Apply hop only once
const float old_z = current_position[Z_AXIS];
hop_amount += retract_zlift; // Add to the hop total (again, only once) hop_amount += retract_zlift; // Add to the hop total (again, only once)
destination[Z_AXIS] += retract_zlift; // Raise Z by the zlift (M207 Z) amount destination[Z_AXIS] += retract_zlift; // Raise Z by the zlift (M207 Z) amount
feedrate_mm_s = planner.max_feedrate_mm_s[Z_AXIS]; // Maximum Z feedrate feedrate_mm_s = planner.max_feedrate_mm_s[Z_AXIS]; // Maximum Z feedrate
prepare_move_to_destination(); // Raise up, set_current_to_destination prepare_move_to_destination(); // Raise up, set_current_to_destination
current_position[Z_AXIS] = old_z; // Spoof the Z position in the planner
SYNC_PLAN_POSITION_KINEMATIC();
} }
} }
else { else {
// If a hop was done and Z hasn't changed, undo the Z hop // If a hop was done and Z hasn't changed, undo the Z hop
if (hop_amount) { if (hop_amount) {
current_position[Z_AXIS] += hop_amount; // Set actual Z (due to the prior hop) destination[Z_AXIS] -= hop_amount; // Move back down by the total hop amount
SYNC_PLAN_POSITION_KINEMATIC(); // Spoof the Z position in the planner
feedrate_mm_s = planner.max_feedrate_mm_s[Z_AXIS]; // Z feedrate to max feedrate_mm_s = planner.max_feedrate_mm_s[Z_AXIS]; // Z feedrate to max
prepare_move_to_destination(); // Lower Z, set_current_to_destination prepare_move_to_destination(); // Lower Z, set_current_to_destination
hop_amount = 0.0; // Clear the hop amount hop_amount = 0.0; // Clear the hop amount
} }
// A retract multiplier has been added here to get faster swap recovery destination[E_AXIS] += (base_retract + (swapping ? swap_retract_recover_length : retract_recover_length)) * renormalize;
feedrate_mm_s = swapping ? swap_retract_recover_feedrate_mm_s : retract_recover_feedrate_mm_s; feedrate_mm_s = swapping ? swap_retract_recover_feedrate_mm_s : retract_recover_feedrate_mm_s;
current_position[E_AXIS] -= (swapping ? swap_retract_length + swap_retract_recover_length
: retract_length + retract_recover_length) * renormalize;
sync_plan_position_e();
prepare_move_to_destination(); // Recover E, set_current_to_destination prepare_move_to_destination(); // Recover E, set_current_to_destination
} }
feedrate_mm_s = old_feedrate_mm_s; // Restore original feedrate feedrate_mm_s = old_feedrate_mm_s; // Restore original feedrate
current_position[Z_AXIS] = old_z; // Restore Z and E positions
current_position[E_AXIS] = old_e;
SYNC_PLAN_POSITION_KINEMATIC(); // As if the move never took place
retracted[active_extruder] = retracting; // Active extruder now retracted / recovered retracted[active_extruder] = retracting; // Active extruder now retracted / recovered
@ -189,8 +184,10 @@ void FWRetract::retract(const bool retracting
for (uint8_t i = 0; i < EXTRUDERS; ++i) { for (uint8_t i = 0; i < EXTRUDERS; ++i) {
SERIAL_ECHOPAIR("retracted[", i); SERIAL_ECHOPAIR("retracted[", i);
SERIAL_ECHOLNPAIR("] ", retracted[i]); SERIAL_ECHOLNPAIR("] ", retracted[i]);
#if EXTRUDERS > 1
SERIAL_ECHOPAIR("retracted_swap[", i); SERIAL_ECHOPAIR("retracted_swap[", i);
SERIAL_ECHOLNPAIR("] ", retracted_swap[i]); SERIAL_ECHOLNPAIR("] ", retracted_swap[i]);
#endif
} }
SERIAL_ECHOLNPAIR("current_position[z] ", current_position[Z_AXIS]); SERIAL_ECHOLNPAIR("current_position[z] ", current_position[Z_AXIS]);
SERIAL_ECHOLNPAIR("current_position[e] ", current_position[E_AXIS]); SERIAL_ECHOLNPAIR("current_position[e] ", current_position[E_AXIS]);