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Merge pull request #6042 from thinkyhead/rc_fix_toolchange_z

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Move Z last in tool-change for SWITCHING_EXTRUDER
This commit is contained in:
Scott Lahteine 2017-03-19 00:34:41 -05:00 committed by GitHub
parent 7cabe81373 f02af83d42
commit 9b2b53f63a
2 changed files with 17 additions and 17 deletions
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32
Marlin/Marlin_main.cpp
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@ -7851,6 +7851,7 @@ inline void gcode_M999() {
inline void move_extruder_servo(uint8_t e) {
const int angles[2] = SWITCHING_EXTRUDER_SERVO_ANGLES;
MOVE_SERVO(SWITCHING_EXTRUDER_SERVO_NR, angles[e]);
delay(500);
}
#endif
@ -7997,25 +7998,15 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
#if ENABLED(SWITCHING_EXTRUDER)
// <0 if the new nozzle is higher, >0 if lower. A bigger raise when lower.
float z_diff = hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder],
z_raise = 0.3 + (z_diff > 0.0 ? z_diff : 0.0);
const float z_diff = hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder],
z_raise = 0.3 + (z_diff > 0.0 ? z_diff : 0.0);
// Always raise by some amount (destination copied from current_position earlier)
float save_Z = destination[Z_AXIS]; // save Z for later on
destination[Z_AXIS] += z_raise;
planner.buffer_line_kinematic(destination, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
current_position[Z_AXIS] += z_raise;
planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
stepper.synchronize();
move_extruder_servo(active_extruder);
delay(500);
// Move back down, if needed
if (z_raise != z_diff) {
destination[Z_AXIS] = current_position[Z_AXIS] + z_diff;
planner.buffer_line_kinematic(destination, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
stepper.synchronize();
}
destination[Z_AXIS] = save_Z; // restore original Z position so the 'Move to the "old position"' is correct
#endif
/**
@ -8066,12 +8057,12 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
#endif
// Adjustments to the current position
float xydiff[2] = { offset_vec.x, offset_vec.y };
const float xydiff[2] = { offset_vec.x, offset_vec.y };
current_position[Z_AXIS] += offset_vec.z;
#else // !ABL_PLANAR
float xydiff[2] = {
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]
};
@ -8138,6 +8129,15 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
prepare_move_to_destination();
}
#if ENABLED(SWITCHING_EXTRUDER)
// Move back down, if needed. (Including when the new tool is higher.)
if (z_raise != z_diff) {
destination[Z_AXIS] += z_diff;
feedrate_mm_s = planner.max_feedrate_mm_s[Z_AXIS];
prepare_move_to_destination();
}
#endif
} // (tmp_extruder != active_extruder)
stepper.synchronize();