diff --git a/Marlin/src/module/tool_change.cpp b/Marlin/src/module/tool_change.cpp index 9a6a588b5f..420128f6a9 100644 --- a/Marlin/src/module/tool_change.cpp +++ b/Marlin/src/module/tool_change.cpp @@ -135,11 +135,11 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { #if ENABLED(MAGNETIC_PARKING_EXTRUDER) - float parkingposx[2] , // M951 R L - parkinggrabdistance , // M951 I - parkingslowspeed, // M951 J - parkinghighspeed , // M951 H - parkingtraveldistance, // M951 D + float parkingposx[2], // M951 R L + parkinggrabdistance, // M951 I + parkingslowspeed, // M951 J + parkinghighspeed, // M951 H + parkingtraveldistance, // M951 D compensationmultiplier; inline void magnetic_parking_extruder_tool_change(const uint8_t tmp_extruder) { @@ -290,52 +290,50 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { // STEP 1 - if (DEBUGGING(LEVELING)) DEBUG_POS("Start Autopark", current_position); + if (DEBUGGING(LEVELING)) DEBUG_POS("Start PE Tool-Change", current_position); current_position[X_AXIS] = parkingposx[active_extruder] + x_offset; - if (DEBUGGING(LEVELING)) { DEBUG_ECHOLNPAIR("(1) Park extruder ", int(active_extruder)); DEBUG_POS("Moving ParkPos", current_position); } - fast_line_to_current(X_AXIS); - planner.synchronize(); // STEP 2 - if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(2) Disengage magnet "); - + planner.synchronize(); + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(2) Disengage magnet"); pe_deactivate_solenoid(active_extruder); // STEP 3 - if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(3) Move near new extruder"); - current_position[X_AXIS] += active_extruder ? -10 : 10; // move 10mm away from parked extruder - - if (DEBUGGING(LEVELING)) DEBUG_POS("Move away from parked extruder", current_position); - + if (DEBUGGING(LEVELING)) { + DEBUG_ECHOLNPGM("(3) Move near new extruder"); + DEBUG_POS("Move away from parked extruder", current_position); + } fast_line_to_current(X_AXIS); - planner.synchronize(); // STEP 4 + + planner.synchronize(); if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(4) Engage magnetic field"); - #if ENABLED(PARKING_EXTRUDER_SOLENOIDS_INVERT) - pe_activate_solenoid(active_extruder); //just save power for inverted magnets + pe_activate_solenoid(active_extruder); // Just save power for inverted magnets #endif - pe_activate_solenoid(tmp_extruder); // STEP 5 current_position[X_AXIS] = grabpos + (tmp_extruder ? -10 : 10); fast_line_to_current(X_AXIS); + current_position[X_AXIS] = grabpos; - if (DEBUGGING(LEVELING)) DEBUG_POS("(5) Unpark extruder", current_position); + if (DEBUGGING(LEVELING)) { + planner.synchronize(); + DEBUG_POS("(5) Unpark extruder", current_position); + } planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[X_AXIS] * 0.5, active_extruder); - planner.synchronize(); // STEP 6 @@ -344,13 +342,14 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { - hotend_offset[X_AXIS][tmp_extruder] #endif ; - - if (DEBUGGING(LEVELING)) DEBUG_POS("(6) Move midway between hotends", current_position); - + if (DEBUGGING(LEVELING)) { + planner.synchronize(); + DEBUG_POS("(6) Move midway between hotends", current_position); + } fast_line_to_current(X_AXIS); - planner.synchronize(); + planner.synchronize(); // Always sync the final move - DEBUG_ECHOLNPGM("Autopark done."); + DEBUG_ECHOLNPGM("PE Tool-Change done."); } else { // nomove == true // Only engage magnetic field for new extruder @@ -383,86 +382,80 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { // 1. Move to switch position of current toolhead - if (DEBUGGING(LEVELING)) DEBUG_POS("Starting Toolhead change", current_position); + if (DEBUGGING(LEVELING)) DEBUG_POS("Start ST Tool-Change", current_position); current_position[X_AXIS] = placexpos; - if (DEBUGGING(LEVELING)) { DEBUG_ECHOLNPAIR("(1) Place old tool ", int(active_extruder)); DEBUG_POS("Move X SwitchPos", current_position); } - fast_line_to_current(X_AXIS); - planner.synchronize(); - - current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS - SWITCHING_TOOLHEAD_Y_SECURITY; - - if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos + Security", current_position); + current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS - (SWITCHING_TOOLHEAD_Y_SECURITY); + if (DEBUGGING(LEVELING)) { + planner.synchronize(); + DEBUG_POS("Move Y SwitchPos + Security", current_position); + } fast_line_to_current(Y_AXIS); - planner.synchronize(); // 2. Unlock tool and drop it in the dock + planner.synchronize(); if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(2) Unlock and Place Toolhead"); - MOVE_SERVO(SWITCHING_TOOLHEAD_SERVO_NR, angles[1]); safe_delay(500); current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS; - if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos", current_position); + planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[Y_AXIS] * 0.5f, active_extruder); - planner.buffer_line(current_position,(planner.settings.max_feedrate_mm_s[Y_AXIS] * 0.5), active_extruder); + // Wait for move to complete, then another 0.2s planner.synchronize(); safe_delay(200); + current_position[Y_AXIS] -= SWITCHING_TOOLHEAD_Y_CLEAR; - if (DEBUGGING(LEVELING)) DEBUG_POS("Move back Y clear", current_position); - fast_line_to_current(Y_AXIS); // move away from docked toolhead - planner.synchronize(); // 3. Move to the new toolhead - if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(3) Move to new toolhead position"); - current_position[X_AXIS] = grabxpos; - - if (DEBUGGING(LEVELING)) DEBUG_POS("Move to new toolhead X", current_position); - + if (DEBUGGING(LEVELING)) { + planner.synchronize(); + DEBUG_ECHOLNPGM("(3) Move to new toolhead position"); + DEBUG_POS("Move to new toolhead X", current_position); + } fast_line_to_current(X_AXIS); - planner.synchronize(); - current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS - SWITCHING_TOOLHEAD_Y_SECURITY; - - if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos + Security", current_position); + current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS - (SWITCHING_TOOLHEAD_Y_SECURITY); + if (DEBUGGING(LEVELING)) { + planner.synchronize(); + DEBUG_POS("Move Y SwitchPos + Security", current_position); + } fast_line_to_current(Y_AXIS); - planner.synchronize(); // 4. Grab and lock the new toolhead - if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(4) Grab and lock new toolhead "); - current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS; - - if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos", current_position); - + if (DEBUGGING(LEVELING)) { + planner.synchronize(); + DEBUG_ECHOLNPGM("(4) Grab and lock new toolhead"); + DEBUG_POS("Move Y SwitchPos", current_position); + } planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[Y_AXIS] * 0.5, active_extruder); - planner.synchronize(); + // Wait for move to finish, pause 0.2s, move servo, pause 0.5s + planner.synchronize(); safe_delay(200); MOVE_SERVO(SWITCHING_TOOLHEAD_SERVO_NR, angles[0]); safe_delay(500); current_position[Y_AXIS] -= SWITCHING_TOOLHEAD_Y_CLEAR; - if (DEBUGGING(LEVELING)) DEBUG_POS("Move back Y clear", current_position); + fast_line_to_current(Y_AXIS); // Move away from docked toolhead + planner.synchronize(); // Always sync the final move - fast_line_to_current(Y_AXIS); // move away from docked toolhead - planner.synchronize(); - - if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Toolhead change done."); + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("ST Tool-Change done."); } #elif ENABLED(MAGNETIC_SWITCHING_TOOLHEAD)