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Code Issues Releases Wiki Activity

Split up tool_change, raise for non-delta too

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This commit is contained in:
Scott Lahteine 2018-03-25 13:23:00 -04:00
parent 52750bf362
commit 712b213b40
1 changed files with 259 additions and 242 deletions
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501
Marlin/Marlin_main.cpp
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@ -537,7 +537,7 @@ static millis_t stepper_inactive_time = (DEFAULT_STEPPER_DEACTIVE_TIME) * 1000UL
#endif
#if ENABLED(SWITCHING_NOZZLE)
#define DONT_SWITCH (SWITCHING_EXTRUDER_SERVO_NR == SWITCHING_NOZZLE_SERVO_NR)
#define DO_SWITCH_EXTRUDER (SWITCHING_EXTRUDER_SERVO_NR != SWITCHING_NOZZLE_SERVO_NR)
#endif
uint8_t target_extruder;
@ -11278,18 +11278,246 @@ inline void invalid_extruder_error(const uint8_t e) {
#endif // HAS_FANMUX
/**
* Perform a tool-change, which may result in moving the
* previous tool out of the way and the new tool into place.
* Tool Change functions
*/
void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool no_move/*=false*/) {
#if ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1
#if ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1
inline void mixing_tool_change(const uint8_t tmp_extruder) {
if (tmp_extruder >= MIXING_VIRTUAL_TOOLS)
return invalid_extruder_error(tmp_extruder);
// T0-Tnnn: Switch virtual tool by changing the mix
for (uint8_t j = 0; j < MIXING_STEPPERS; j++)
mixing_factor[j] = mixing_virtual_tool_mix[tmp_extruder][j];
}
#endif // MIXING_EXTRUDER && MIXING_VIRTUAL_TOOLS > 1
#if ENABLED(DUAL_X_CARRIAGE)
inline void dualx_tool_change(const uint8_t tmp_extruder, bool &no_move) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPGM("Dual X Carriage Mode ");
switch (dual_x_carriage_mode) {
case DXC_FULL_CONTROL_MODE: SERIAL_ECHOLNPGM("DXC_FULL_CONTROL_MODE"); break;
case DXC_AUTO_PARK_MODE: SERIAL_ECHOLNPGM("DXC_AUTO_PARK_MODE"); break;
case DXC_DUPLICATION_MODE: SERIAL_ECHOLNPGM("DXC_DUPLICATION_MODE"); break;
}
}
#endif
const float xhome = x_home_pos(active_extruder);
if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE
&& IsRunning()
&& (delayed_move_time || current_position[X_AXIS] != xhome)
) {
float raised_z = current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT;
#if ENABLED(MAX_SOFTWARE_ENDSTOPS)
NOMORE(raised_z, soft_endstop_max[Z_AXIS]);
#endif
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOLNPAIR("Raise to ", raised_z);
SERIAL_ECHOLNPAIR("MoveX to ", xhome);
SERIAL_ECHOLNPAIR("Lower to ", current_position[Z_AXIS]);
}
#endif
// Park old head: 1) raise 2) move to park position 3) lower
for (uint8_t i = 0; i < 3; i++)
planner.buffer_line(
i == 0 ? current_position[X_AXIS] : xhome,
current_position[Y_AXIS],
i == 2 ? current_position[Z_AXIS] : raised_z,
current_position[E_AXIS],
planner.max_feedrate_mm_s[i == 1 ? X_AXIS : Z_AXIS],
active_extruder
);
stepper.synchronize();
}
// Apply Y & Z extruder offset (X offset is used as home pos with Dual X)
current_position[Y_AXIS] -= hotend_offset[Y_AXIS][active_extruder] - hotend_offset[Y_AXIS][tmp_extruder];
current_position[Z_AXIS] -= hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder];
// Activate the new extruder ahead of calling set_axis_is_at_home!
active_extruder = tmp_extruder;
// This function resets the max/min values - the current position may be overwritten below.
set_axis_is_at_home(X_AXIS);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("New Extruder", current_position);
#endif
// Only when auto-parking are carriages safe to move
if (dual_x_carriage_mode != DXC_AUTO_PARK_MODE) no_move = true;
switch (dual_x_carriage_mode) {
case DXC_FULL_CONTROL_MODE:
// New current position is the position of the activated extruder
current_position[X_AXIS] = inactive_extruder_x_pos;
// Save the inactive extruder's position (from the old current_position)
inactive_extruder_x_pos = destination[X_AXIS];
break;
case DXC_AUTO_PARK_MODE:
// record raised toolhead position for use by unpark
COPY(raised_parked_position, current_position);
raised_parked_position[Z_AXIS] += TOOLCHANGE_UNPARK_ZLIFT;
#if ENABLED(MAX_SOFTWARE_ENDSTOPS)
NOMORE(raised_parked_position[Z_AXIS], soft_endstop_max[Z_AXIS]);
#endif
active_extruder_parked = true;
delayed_move_time = 0;
break;
case DXC_DUPLICATION_MODE:
// If the new extruder is the left one, set it "parked"
// This triggers the second extruder to move into the duplication position
active_extruder_parked = (active_extruder == 0);
current_position[X_AXIS] = active_extruder_parked ? inactive_extruder_x_pos : destination[X_AXIS] + duplicate_extruder_x_offset;
inactive_extruder_x_pos = destination[X_AXIS];
extruder_duplication_enabled = false;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOLNPAIR("Set inactive_extruder_x_pos=", inactive_extruder_x_pos);
SERIAL_ECHOLNPGM("Clear extruder_duplication_enabled");
}
#endif
break;
}
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOLNPAIR("Active extruder parked: ", active_extruder_parked ? "yes" : "no");
DEBUG_POS("New extruder (parked)", current_position);
}
#endif
// No extra case for HAS_ABL in DUAL_X_CARRIAGE. Does that mean they don't work together?
}
#endif // DUAL_X_CARRIAGE
#if ENABLED(PARKING_EXTRUDER)
inline void parking_extruder_tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool no_move/*=false*/) {
constexpr float z_raise = PARKING_EXTRUDER_SECURITY_RAISE;
if (!no_move) {
const float parkingposx[] = PARKING_EXTRUDER_PARKING_X,
midpos = (parkingposx[0] + parkingposx[1]) * 0.5 + hotend_offset[X_AXIS][active_extruder],
grabpos = parkingposx[tmp_extruder] + hotend_offset[X_AXIS][active_extruder]
+ (tmp_extruder == 0 ? -(PARKING_EXTRUDER_GRAB_DISTANCE) : PARKING_EXTRUDER_GRAB_DISTANCE);
/**
* Steps:
* 1. Raise Z-Axis to give enough clearance
* 2. Move to park position of old extruder
* 3. Disengage magnetic field, wait for delay
* 4. Move near new extruder
* 5. Engage magnetic field for new extruder
* 6. Move to parking incl. offset of new extruder
* 7. Lower Z-Axis
*/
// STEP 1
#if ENABLED(DEBUG_LEVELING_FEATURE)
SERIAL_ECHOLNPGM("Starting Autopark");
if (DEBUGGING(LEVELING)) DEBUG_POS("current position:", current_position);
#endif
current_position[Z_AXIS] += z_raise;
#if ENABLED(DEBUG_LEVELING_FEATURE)
SERIAL_ECHOLNPGM("(1) Raise Z-Axis ");
if (DEBUGGING(LEVELING)) DEBUG_POS("Moving to Raised Z-Position", current_position);
#endif
planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
stepper.synchronize();
// STEP 2
current_position[X_AXIS] = parkingposx[active_extruder] + hotend_offset[X_AXIS][active_extruder];
#if ENABLED(DEBUG_LEVELING_FEATURE)
SERIAL_ECHOLNPAIR("(2) Park extruder ", active_extruder);
if (DEBUGGING(LEVELING)) DEBUG_POS("Moving ParkPos", current_position);
#endif
planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
stepper.synchronize();
// STEP 3
#if ENABLED(DEBUG_LEVELING_FEATURE)
SERIAL_ECHOLNPGM("(3) Disengage magnet ");
#endif
pe_deactivate_magnet(active_extruder);
// STEP 4
#if ENABLED(DEBUG_LEVELING_FEATURE)
SERIAL_ECHOLNPGM("(4) Move to position near new extruder");
#endif
current_position[X_AXIS] += (active_extruder == 0 ? 10 : -10); // move 10mm away from parked extruder
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("Moving away from parked extruder", current_position);
#endif
planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
stepper.synchronize();
// STEP 5
#if ENABLED(DEBUG_LEVELING_FEATURE)
SERIAL_ECHOLNPGM("(5) Engage magnetic field");
#endif
#if ENABLED(PARKING_EXTRUDER_SOLENOIDS_INVERT)
pe_activate_magnet(active_extruder); //just save power for inverted magnets
#endif
pe_activate_magnet(tmp_extruder);
// STEP 6
current_position[X_AXIS] = grabpos + (tmp_extruder == 0 ? (+10) : (-10));
planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
current_position[X_AXIS] = grabpos;
#if ENABLED(DEBUG_LEVELING_FEATURE)
SERIAL_ECHOLNPAIR("(6) Unpark extruder ", tmp_extruder);
if (DEBUGGING(LEVELING)) DEBUG_POS("Move UnparkPos", current_position);
#endif
planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS]/2, active_extruder);
stepper.synchronize();
// Step 7
current_position[X_AXIS] = midpos - hotend_offset[X_AXIS][tmp_extruder];
#if ENABLED(DEBUG_LEVELING_FEATURE)
SERIAL_ECHOLNPGM("(7) Move midway between hotends");
if (DEBUGGING(LEVELING)) DEBUG_POS("Move midway to new extruder", current_position);
#endif
planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
stepper.synchronize();
#if ENABLED(DEBUG_LEVELING_FEATURE)
SERIAL_ECHOLNPGM("Autopark done.");
#endif
}
else { // nomove == true
// Only engage magnetic field for new extruder
pe_activate_magnet(tmp_extruder);
#if ENABLED(PARKING_EXTRUDER_SOLENOIDS_INVERT)
pe_activate_magnet(active_extruder); // Just save power for inverted magnets
#endif
}
current_position[Z_AXIS] += hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder];
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("Applying Z-offset", current_position);
#endif
}
#endif // PARKING_EXTRUDER
/**
* Perform a tool-change, which may result in moving the
* previous tool out of the way and the new tool into place.
*/
void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool no_move/*=false*/) {
#if ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1
mixing_tool_change(tmp_extruder);
#else // !MIXING_EXTRUDER || MIXING_VIRTUAL_TOOLS <= 1
@ -11313,275 +11541,61 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
// Save current position to destination, for use later
set_destination_from_current();
// Set current position to the physical position
const bool leveling_was_active = planner.leveling_active;
set_bed_leveling_enabled(false);
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]
};
#if HAS_LEVELING
// Set current position to the physical position
const bool leveling_was_active = planner.leveling_active;
set_bed_leveling_enabled(false);
#endif
#if ENABLED(DUAL_X_CARRIAGE)
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPGM("Dual X Carriage Mode ");
switch (dual_x_carriage_mode) {
case DXC_FULL_CONTROL_MODE: SERIAL_ECHOLNPGM("DXC_FULL_CONTROL_MODE"); break;
case DXC_AUTO_PARK_MODE: SERIAL_ECHOLNPGM("DXC_AUTO_PARK_MODE"); break;
case DXC_DUPLICATION_MODE: SERIAL_ECHOLNPGM("DXC_DUPLICATION_MODE"); break;
}
}
#endif
const float xhome = x_home_pos(active_extruder);
if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE
&& IsRunning()
&& (delayed_move_time || current_position[X_AXIS] != xhome)
) {
float raised_z = current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT;
#if ENABLED(MAX_SOFTWARE_ENDSTOPS)
NOMORE(raised_z, soft_endstop_max[Z_AXIS]);
#endif
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOLNPAIR("Raise to ", raised_z);
SERIAL_ECHOLNPAIR("MoveX to ", xhome);
SERIAL_ECHOLNPAIR("Lower to ", current_position[Z_AXIS]);
}
#endif
// Park old head: 1) raise 2) move to park position 3) lower
for (uint8_t i = 0; i < 3; i++)
planner.buffer_line(
i == 0 ? current_position[X_AXIS] : xhome,
current_position[Y_AXIS],
i == 2 ? current_position[Z_AXIS] : raised_z,
current_position[E_AXIS],
planner.max_feedrate_mm_s[i == 1 ? X_AXIS : Z_AXIS],
active_extruder
);
stepper.synchronize();
}
// Apply Y & Z extruder offset (X offset is used as home pos with Dual X)
current_position[Y_AXIS] -= hotend_offset[Y_AXIS][active_extruder] - hotend_offset[Y_AXIS][tmp_extruder];
current_position[Z_AXIS] -= hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder];
// Activate the new extruder ahead of calling set_axis_is_at_home!
active_extruder = tmp_extruder;
// This function resets the max/min values - the current position may be overwritten below.
set_axis_is_at_home(X_AXIS);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("New Extruder", current_position);
#endif
// Only when auto-parking are carriages safe to move
if (dual_x_carriage_mode != DXC_AUTO_PARK_MODE) no_move = true;
switch (dual_x_carriage_mode) {
case DXC_FULL_CONTROL_MODE:
// New current position is the position of the activated extruder
current_position[X_AXIS] = inactive_extruder_x_pos;
// Save the inactive extruder's position (from the old current_position)
inactive_extruder_x_pos = destination[X_AXIS];
break;
case DXC_AUTO_PARK_MODE:
// record raised toolhead position for use by unpark
COPY(raised_parked_position, current_position);
raised_parked_position[Z_AXIS] += TOOLCHANGE_UNPARK_ZLIFT;
#if ENABLED(MAX_SOFTWARE_ENDSTOPS)
NOMORE(raised_parked_position[Z_AXIS], soft_endstop_max[Z_AXIS]);
#endif
active_extruder_parked = true;
delayed_move_time = 0;
break;
case DXC_DUPLICATION_MODE:
// If the new extruder is the left one, set it "parked"
// This triggers the second extruder to move into the duplication position
active_extruder_parked = (active_extruder == 0);
if (active_extruder_parked)
current_position[X_AXIS] = inactive_extruder_x_pos;
else
current_position[X_AXIS] = destination[X_AXIS] + duplicate_extruder_x_offset;
inactive_extruder_x_pos = destination[X_AXIS];
extruder_duplication_enabled = false;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOLNPAIR("Set inactive_extruder_x_pos=", inactive_extruder_x_pos);
SERIAL_ECHOLNPGM("Clear extruder_duplication_enabled");
}
#endif
break;
}
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOLNPAIR("Active extruder parked: ", active_extruder_parked ? "yes" : "no");
DEBUG_POS("New extruder (parked)", current_position);
}
#endif
// No extra case for HAS_ABL in DUAL_X_CARRIAGE. Does that mean they don't work together?
dualx_tool_change(tmp_extruder, no_move); // Can modify no_move
#else // !DUAL_X_CARRIAGE
#if ENABLED(PARKING_EXTRUDER) || ENABLED(SWITCHING_NOZZLE)
const float z_diff = hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder];
#endif
#if ENABLED(PARKING_EXTRUDER) // Dual Parking extruder
constexpr float z_raise = PARKING_EXTRUDER_SECURITY_RAISE;
if (!no_move) {
const float parkingposx[] = PARKING_EXTRUDER_PARKING_X,
midpos = (parkingposx[0] + parkingposx[1]) * 0.5 + hotend_offset[X_AXIS][active_extruder],
grabpos = parkingposx[tmp_extruder] + hotend_offset[X_AXIS][active_extruder]
+ (tmp_extruder == 0 ? -(PARKING_EXTRUDER_GRAB_DISTANCE) : PARKING_EXTRUDER_GRAB_DISTANCE);
/**
* Steps:
* 1. Raise Z-Axis to give enough clearance
* 2. Move to park position of old extruder
* 3. Disengage magnetic field, wait for delay
* 4. Move near new extruder
* 5. Engage magnetic field for new extruder
* 6. Move to parking incl. offset of new extruder
* 7. Lower Z-Axis
*/
// STEP 1
#if ENABLED(DEBUG_LEVELING_FEATURE)
SERIAL_ECHOLNPGM("Starting Autopark");
if (DEBUGGING(LEVELING)) DEBUG_POS("current position:", current_position);
#endif
current_position[Z_AXIS] += z_raise;
#if ENABLED(DEBUG_LEVELING_FEATURE)
SERIAL_ECHOLNPGM("(1) Raise Z-Axis ");
if (DEBUGGING(LEVELING)) DEBUG_POS("Moving to Raised Z-Position", current_position);
#endif
planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
stepper.synchronize();
// STEP 2
current_position[X_AXIS] = parkingposx[active_extruder] + hotend_offset[X_AXIS][active_extruder];
#if ENABLED(DEBUG_LEVELING_FEATURE)
SERIAL_ECHOLNPAIR("(2) Park extruder ", active_extruder);
if (DEBUGGING(LEVELING)) DEBUG_POS("Moving ParkPos", current_position);
#endif
planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
stepper.synchronize();
// STEP 3
#if ENABLED(DEBUG_LEVELING_FEATURE)
SERIAL_ECHOLNPGM("(3) Disengage magnet ");
#endif
pe_deactivate_magnet(active_extruder);
// STEP 4
#if ENABLED(DEBUG_LEVELING_FEATURE)
SERIAL_ECHOLNPGM("(4) Move to position near new extruder");
#endif
current_position[X_AXIS] += (active_extruder == 0 ? 10 : -10); // move 10mm away from parked extruder
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("Moving away from parked extruder", current_position);
#endif
planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
stepper.synchronize();
// STEP 5
#if ENABLED(DEBUG_LEVELING_FEATURE)
SERIAL_ECHOLNPGM("(5) Engage magnetic field");
#endif
#if ENABLED(PARKING_EXTRUDER_SOLENOIDS_INVERT)
pe_activate_magnet(active_extruder); //just save power for inverted magnets
#endif
pe_activate_magnet(tmp_extruder);
// STEP 6
current_position[X_AXIS] = grabpos + (tmp_extruder == 0 ? (+10) : (-10));
planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
current_position[X_AXIS] = grabpos;
#if ENABLED(DEBUG_LEVELING_FEATURE)
SERIAL_ECHOLNPAIR("(6) Unpark extruder ", tmp_extruder);
if (DEBUGGING(LEVELING)) DEBUG_POS("Move UnparkPos", current_position);
#endif
planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS]/2, active_extruder);
stepper.synchronize();
// Step 7
current_position[X_AXIS] = midpos - hotend_offset[X_AXIS][tmp_extruder];
#if ENABLED(DEBUG_LEVELING_FEATURE)
SERIAL_ECHOLNPGM("(7) Move midway between hotends");
if (DEBUGGING(LEVELING)) DEBUG_POS("Move midway to new extruder", current_position);
#endif
planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
stepper.synchronize();
#if ENABLED(DEBUG_LEVELING_FEATURE)
SERIAL_ECHOLNPGM("Autopark done.");
#endif
}
else { // nomove == true
// Only engage magnetic field for new extruder
pe_activate_magnet(tmp_extruder);
#if ENABLED(PARKING_EXTRUDER_SOLENOIDS_INVERT)
pe_activate_magnet(active_extruder); // Just save power for inverted magnets
#endif
}
current_position[Z_AXIS] += z_diff; // Apply Zoffset
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("Applying Z-offset", current_position);
#endif
#endif // dualParking extruder
parking_extruder_tool_change(tmp_extruder, no_move);
#endif
#if ENABLED(SWITCHING_NOZZLE)
// Always raise by at least 0.3
const float z_diff = hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder];
current_position[Z_AXIS] += (z_diff > 0.0 ? z_diff : 0.0) + 0.3;
planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
move_nozzle_servo(tmp_extruder);
#endif
const float xdiff = hotend_offset[X_AXIS][tmp_extruder] - hotend_offset[X_AXIS][active_extruder],
ydiff = hotend_offset[Y_AXIS][tmp_extruder] - hotend_offset[Y_AXIS][active_extruder];
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("Offset Tool XY by { ", xydiff[X_AXIS]);
SERIAL_ECHOPAIR(", ", xydiff[Y_AXIS]);
SERIAL_ECHOPAIR("Offset Tool XY by { ", xdiff);
SERIAL_ECHOPAIR(", ", ydiff);
SERIAL_ECHOLNPGM(" }");
}
#endif
// The newly-selected extruder XY is actually at...
current_position[X_AXIS] += xydiff[X_AXIS];
current_position[Y_AXIS] += xydiff[Y_AXIS];
current_position[X_AXIS] += xdiff;
current_position[Y_AXIS] += ydiff;
// Set the new active extruder
active_extruder = tmp_extruder;
#endif // !DUAL_X_CARRIAGE
// Restore leveling to re-establish the logical position
set_bed_leveling_enabled(leveling_was_active);
#if HAS_LEVELING
// Restore leveling to re-establish the logical position
set_bed_leveling_enabled(leveling_was_active);
#endif
// Tell the planner the new "current position"
SYNC_PLAN_POSITION_KINEMATIC();
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("Sync After Toolchange", current_position);
#endif
#if ENABLED(DELTA)
//LOOP_XYZ(i) update_software_endstops(i); // or modify the constrain function
// Do a small lift to avoid the workpiece in the move back (below)
const bool safe_to_move = current_position[Z_AXIS] < delta_clip_start_height - 1;
if (!no_move && IsRunning() && safe_to_move) {
current_position[Z_AXIS] += 1.0;
planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
}
#else
constexpr bool safe_to_move = true;
#endif
@ -11590,8 +11604,11 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
destination[Z_AXIS] += z_diff; // Include the Z restore with the "move back"
#endif
// Move to the "old position" (move the extruder into place)
// Raise, move, and lower again
if (safe_to_move && !no_move && IsRunning()) {
// Do a small lift to avoid the workpiece in the move back (below)
current_position[Z_AXIS] += 1.0;
planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("Move back", destination);
#endif
@ -11632,7 +11649,7 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
#endif // HOTENDS <= 1
#if ENABLED(SWITCHING_EXTRUDER) && !DONT_SWITCH
#if DO_SWITCH_EXTRUDER
stepper.synchronize();
move_extruder_servo(active_extruder);
#endif
@ -13975,7 +13992,7 @@ void setup() {
setup_endstop_interrupts();
#endif
#if ENABLED(SWITCHING_EXTRUDER) && !DONT_SWITCH
#if DO_SWITCH_EXTRUDER
move_extruder_servo(0); // Initialize extruder servo
#endif