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https://github.com/MarlinFirmware/Marlin.git
synced 2024-11-27 13:56:24 +00:00
Apply some tool-change cleanup
This commit is contained in:
Scott Lahteine
parent
34ea458667
commit
5a470d4a49
@ -129,10 +129,17 @@
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inline void parking_extruder_tool_change(const uint8_t tmp_extruder, bool no_move) {
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if (!no_move) {
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const float parkingposx[] = PARKING_EXTRUDER_PARKING_X,
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midpos = (parkingposx[0] + parkingposx[1]) * 0.5 + hotend_offset[X_AXIS][active_extruder],
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grabpos = parkingposx[tmp_extruder] + hotend_offset[X_AXIS][active_extruder]
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+ (tmp_extruder == 0 ? -(PARKING_EXTRUDER_GRAB_DISTANCE) : PARKING_EXTRUDER_GRAB_DISTANCE);
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constexpr float parkingposx[] = PARKING_EXTRUDER_PARKING_X;
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#if HAS_HOTEND_OFFSET
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const float x_offset = hotend_offset[X_AXIS][active_extruder];
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#else
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constexpr float x_offset = 0;
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#endif
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const float midpos = (parkingposx[0] + parkingposx[1]) * 0.5 + x_offset,
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grabpos = parkingposx[tmp_extruder] + (tmp_extruder ? PARKING_EXTRUDER_GRAB_DISTANCE : -(PARKING_EXTRUDER_GRAB_DISTANCE)) + x_offset;
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/**
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* 1. Raise Z-Axis to give enough clearance
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* 2. Move to park position of old extruder
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@ -144,42 +151,54 @@
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*/
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// STEP 1
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("Start Autopark", current_position);
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#endif
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current_position[Z_AXIS] += toolchange_settings.z_raise;
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("(1) Raise Z-Axis", current_position);
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#endif
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planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[Z_AXIS], active_extruder);
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planner.synchronize();
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// STEP 2
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current_position[X_AXIS] = parkingposx[active_extruder] + hotend_offset[X_AXIS][active_extruder];
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current_position[X_AXIS] = parkingposx[active_extruder] + x_offset;
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) {
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SERIAL_ECHOLNPAIR("(2) Park extruder ", int(active_extruder));
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DEBUG_POS("Moving ParkPos", current_position);
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}
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#endif
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planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[X_AXIS], active_extruder);
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planner.synchronize();
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// STEP 3
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("(3) Disengage magnet ");
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#endif
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pe_deactivate_magnet(active_extruder);
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// STEP 4
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("(4) Move to position near new extruder");
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#endif
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current_position[X_AXIS] += active_extruder ? -10 : 10; // move 10mm away from parked extruder
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("Move away from parked extruder", current_position);
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#endif
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planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[X_AXIS], active_extruder);
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planner.synchronize();
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@ -191,9 +210,11 @@
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#if ENABLED(PARKING_EXTRUDER_SOLENOIDS_INVERT)
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pe_activate_magnet(active_extruder); //just save power for inverted magnets
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#endif
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pe_activate_magnet(tmp_extruder);
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// STEP 6
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current_position[X_AXIS] = grabpos + (tmp_extruder ? -10 : 10);
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planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[X_AXIS], active_extruder);
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current_position[X_AXIS] = grabpos;
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@ -203,13 +224,21 @@
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planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[X_AXIS]/2, active_extruder);
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planner.synchronize();
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// Step 7
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current_position[X_AXIS] = midpos - hotend_offset[X_AXIS][tmp_extruder];
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// STEP 7
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current_position[X_AXIS] = midpos
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#if HAS_HOTEND_OFFSET
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- hotend_offset[X_AXIS][tmp_extruder]
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#endif
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;
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("(7) Move midway between hotends", current_position);
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#endif
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planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[X_AXIS], active_extruder);
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planner.synchronize();
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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SERIAL_ECHOLNPGM("Autopark done.");
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#endif
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@ -221,7 +250,10 @@
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pe_activate_magnet(active_extruder); // Just save power for inverted magnets
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#endif
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}
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current_position[Z_AXIS] += hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder];
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#if HAS_HOTEND_OFFSET
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current_position[Z_AXIS] += hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder];
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#endif
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("Applying Z-offset", current_position);
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@ -251,80 +283,105 @@
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*/
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// STEP 1
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("Starting Toolhead change", current_position);
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#endif
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current_position[Z_AXIS] += toolchange_settings.z_raise;
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("(1) Raise Z-Axis", current_position);
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#endif
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planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[Z_AXIS], active_extruder);
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planner.synchronize();
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// STEP 2
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current_position[X_AXIS] = placexpos;
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) {
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SERIAL_ECHOLNPAIR("(2) Place old tool ", int(active_extruder));
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DEBUG_POS("Move X SwitchPos", current_position);
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}
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#endif
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planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[X_AXIS], active_extruder);
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planner.synchronize();
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current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS - SWITCHING_TOOLHEAD_Y_SECURITY;
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos + Security", current_position);
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#endif
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planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[Y_AXIS], active_extruder);
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planner.synchronize();
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// STEP 3
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("(3) Unlock and Place Toolhead");
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#endif
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MOVE_SERVO(SWITCHING_TOOLHEAD_SERVO_NR, angles[1]);
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safe_delay(500);
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current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS;
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos", current_position);
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#endif
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planner.buffer_line(current_position,(planner.settings.max_feedrate_mm_s[Y_AXIS] * 0.5), active_extruder);
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planner.synchronize();
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safe_delay(200);
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current_position[Y_AXIS] -= SWITCHING_TOOLHEAD_Y_CLEAR;
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("Move back Y clear", current_position);
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#endif
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planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[Y_AXIS], active_extruder); // move away from docked toolhead
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planner.synchronize();
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// STEP 4
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("(4) Move to new toolhead position");
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#endif
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current_position[X_AXIS] = grabxpos;
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("Move to new toolhead X", current_position);
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#endif
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planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[X_AXIS], active_extruder);
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planner.synchronize();
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current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS - SWITCHING_TOOLHEAD_Y_SECURITY;
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos + Security", current_position);
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#endif
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planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[Y_AXIS], active_extruder);
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planner.synchronize();
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// STEP 5
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("(5) Grab and lock new toolhead ");
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#endif
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current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS;
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos", current_position);
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#endif
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planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[Y_AXIS] * 0.5, active_extruder);
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planner.synchronize();
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@ -333,14 +390,19 @@
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safe_delay(500);
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current_position[Y_AXIS] -= SWITCHING_TOOLHEAD_Y_CLEAR;
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("Move back Y clear", current_position);
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#endif
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planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[Y_AXIS], active_extruder); // move away from docked toolhead
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planner.synchronize();
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// STEP 6
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current_position[Z_AXIS] += hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder];
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#if HAS_HOTEND_OFFSET
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current_position[Z_AXIS] += hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder];
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#endif
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("(6) Apply Z offset", current_position);
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