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Prevent a tool change move out of bounds

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This commit is contained in:
Scott Lahteine 2019-03-04 19:09:31 -06:00
parent 2212da453a
commit bc87e97357
1 changed files with 29 additions and 23 deletions
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52
Marlin/src/module/tool_change.cpp
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@ -126,6 +126,10 @@
#endif // SWITCHING_NOZZLE #endif // SWITCHING_NOZZLE
inline void fast_line_to_current(const AxisEnum fr_axis) {
planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[fr_axis], active_extruder);
}
#if ENABLED(MAGNETIC_PARKING_EXTRUDER) #if ENABLED(MAGNETIC_PARKING_EXTRUDER)
float parkingposx[2] , // M951 R L float parkingposx[2] , // M951 R L
@ -308,7 +312,7 @@
if (DEBUGGING(LEVELING)) DEBUG_POS("(1) Raise Z-Axis", current_position); if (DEBUGGING(LEVELING)) DEBUG_POS("(1) Raise Z-Axis", current_position);
#endif #endif
planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[Z_AXIS], active_extruder); fast_line_to_current(Z_AXIS);
planner.synchronize(); planner.synchronize();
// STEP 2 // STEP 2
@ -322,7 +326,7 @@
} }
#endif #endif
planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[X_AXIS], active_extruder); fast_line_to_current(X_AXIS);
planner.synchronize(); planner.synchronize();
// STEP 3 // STEP 3
@ -345,7 +349,7 @@
if (DEBUGGING(LEVELING)) DEBUG_POS("Move away from parked extruder", current_position); if (DEBUGGING(LEVELING)) DEBUG_POS("Move away from parked extruder", current_position);
#endif #endif
planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[X_AXIS], active_extruder); fast_line_to_current(X_AXIS);
planner.synchronize(); planner.synchronize();
// STEP 5 // STEP 5
@ -362,12 +366,12 @@
// STEP 6 // STEP 6
current_position[X_AXIS] = grabpos + (tmp_extruder ? -10 : 10); current_position[X_AXIS] = grabpos + (tmp_extruder ? -10 : 10);
planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[X_AXIS], active_extruder); fast_line_to_current(X_AXIS);
current_position[X_AXIS] = grabpos; current_position[X_AXIS] = grabpos;
#if ENABLED(DEBUG_LEVELING_FEATURE) #if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("(6) Unpark extruder", current_position); if (DEBUGGING(LEVELING)) DEBUG_POS("(6) Unpark extruder", current_position);
#endif #endif
planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[X_AXIS]/2, active_extruder); planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[X_AXIS] * 0.5, active_extruder);
planner.synchronize(); planner.synchronize();
// STEP 7 // STEP 7
@ -382,7 +386,7 @@
if (DEBUGGING(LEVELING)) DEBUG_POS("(7) Move midway between hotends", current_position); if (DEBUGGING(LEVELING)) DEBUG_POS("(7) Move midway between hotends", current_position);
#endif #endif
planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[X_AXIS], active_extruder); fast_line_to_current(X_AXIS);
planner.synchronize(); planner.synchronize();
#if ENABLED(DEBUG_LEVELING_FEATURE) #if ENABLED(DEBUG_LEVELING_FEATURE)
@ -428,7 +432,7 @@
* 6. Apply the z-offset of the new toolhead * 6. Apply the z-offset of the new toolhead
*/ */
// STEP 1 // 1. Raise Z to give enough clearance
#if ENABLED(DEBUG_LEVELING_FEATURE) #if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("Starting Toolhead change", current_position); if (DEBUGGING(LEVELING)) DEBUG_POS("Starting Toolhead change", current_position);
@ -440,10 +444,10 @@
if (DEBUGGING(LEVELING)) DEBUG_POS("(1) Raise Z-Axis", current_position); if (DEBUGGING(LEVELING)) DEBUG_POS("(1) Raise Z-Axis", current_position);
#endif #endif
planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[Z_AXIS], active_extruder); fast_line_to_current(Z_AXIS);
planner.synchronize(); planner.synchronize();
// STEP 2 // 2. Move to switch position of current toolhead
current_position[X_AXIS] = placexpos; current_position[X_AXIS] = placexpos;
@ -454,7 +458,7 @@
} }
#endif #endif
planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[X_AXIS], active_extruder); fast_line_to_current(X_AXIS);
planner.synchronize(); planner.synchronize();
current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS - SWITCHING_TOOLHEAD_Y_SECURITY; current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS - SWITCHING_TOOLHEAD_Y_SECURITY;
@ -463,10 +467,10 @@
if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos + Security", current_position); if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos + Security", current_position);
#endif #endif
planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[Y_AXIS], active_extruder); fast_line_to_current(Y_AXIS);
planner.synchronize(); planner.synchronize();
// STEP 3 // 3. Unlock tool and drop it in the dock
#if ENABLED(DEBUG_LEVELING_FEATURE) #if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("(3) Unlock and Place Toolhead"); if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("(3) Unlock and Place Toolhead");
@ -490,10 +494,10 @@
if (DEBUGGING(LEVELING)) DEBUG_POS("Move back Y clear", current_position); if (DEBUGGING(LEVELING)) DEBUG_POS("Move back Y clear", current_position);
#endif #endif
planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[Y_AXIS], active_extruder); // move away from docked toolhead fast_line_to_current(Y_AXIS); // move away from docked toolhead
planner.synchronize(); planner.synchronize();
// STEP 4 // 4. Move to the new toolhead
#if ENABLED(DEBUG_LEVELING_FEATURE) #if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("(4) Move to new toolhead position"); if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("(4) Move to new toolhead position");
@ -505,7 +509,7 @@
if (DEBUGGING(LEVELING)) DEBUG_POS("Move to new toolhead X", current_position); if (DEBUGGING(LEVELING)) DEBUG_POS("Move to new toolhead X", current_position);
#endif #endif
planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[X_AXIS], active_extruder); fast_line_to_current(X_AXIS);
planner.synchronize(); planner.synchronize();
current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS - SWITCHING_TOOLHEAD_Y_SECURITY; current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS - SWITCHING_TOOLHEAD_Y_SECURITY;
@ -513,10 +517,10 @@
if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos + Security", current_position); if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos + Security", current_position);
#endif #endif
planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[Y_AXIS], active_extruder); fast_line_to_current(Y_AXIS);
planner.synchronize(); planner.synchronize();
// STEP 5 // 5. Grab and lock the new toolhead
#if ENABLED(DEBUG_LEVELING_FEATURE) #if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("(5) Grab and lock new toolhead "); if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("(5) Grab and lock new toolhead ");
@ -541,10 +545,10 @@
if (DEBUGGING(LEVELING)) DEBUG_POS("Move back Y clear", current_position); if (DEBUGGING(LEVELING)) DEBUG_POS("Move back Y clear", current_position);
#endif #endif
planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[Y_AXIS], active_extruder); // move away from docked toolhead fast_line_to_current(Y_AXIS); // move away from docked toolhead
planner.synchronize(); planner.synchronize();
// STEP 6 // 6. Apply the z-offset of the new toolhead
#if HAS_HOTEND_OFFSET #if HAS_HOTEND_OFFSET
current_position[Z_AXIS] += hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder]; current_position[Z_AXIS] += hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder];
@ -589,9 +593,7 @@ inline void invalid_extruder_error(const uint8_t e) {
) { ) {
#if ENABLED(DEBUG_LEVELING_FEATURE) #if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) { if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("MoveX to ", xhome);
SERIAL_ECHOLNPAIR("MoveX to ", xhome);
}
#endif #endif
// Park old head // Park old head
planner.buffer_line(xhome, current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], planner.settings.max_feedrate_mm_s[X_AXIS], active_extruder); planner.buffer_line(xhome, current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], planner.settings.max_feedrate_mm_s[X_AXIS], active_extruder);
@ -797,7 +799,7 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
#if HAS_SOFTWARE_ENDSTOPS #if HAS_SOFTWARE_ENDSTOPS
NOMORE(current_position[Z_AXIS], soft_endstop_max[Z_AXIS]); NOMORE(current_position[Z_AXIS], soft_endstop_max[Z_AXIS]);
#endif #endif
if (!no_move)planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[Z_AXIS], active_extruder); if (!no_move) fast_line_to_current(Z_AXIS);
move_nozzle_servo(tmp_extruder); move_nozzle_servo(tmp_extruder);
#endif #endif
@ -867,8 +869,12 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
} }
#endif #endif
// Prevent a move outside physical bounds
clamp_to_software_endstops(destination);
// Move back to the original (or tweaked) position // Move back to the original (or tweaked) position
do_blocking_move_to(destination); do_blocking_move_to(destination);
#if ENABLED(DUAL_X_CARRIAGE) #if ENABLED(DUAL_X_CARRIAGE)
active_extruder_parked = false; active_extruder_parked = false;
#endif #endif