c7f6e5436c
Extend the "filament type" list with PC or allow free form text into the filament type field. #1704
1297 lines
52 KiB
C++
1297 lines
52 KiB
C++
/*
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TODO LIST
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---------
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1. cooling moves - DONE
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2. account for perimeter and finish_layer extrusions and subtract it from last wipe - DONE
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3. priming extrusions (last wipe must clear the color) - DONE
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4. Peter's wipe tower - layer's are not exactly square
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5. Peter's wipe tower - variable width for higher levels
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6. Peter's wipe tower - make sure it is not too sparse (apply max_bridge_distance and make last wipe longer)
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7. Peter's wipe tower - enable enhanced first layer adhesion
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*/
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#include "WipeTowerPrusaMM.hpp"
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#include <assert.h>
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#include <math.h>
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#include <iostream>
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#include <vector>
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#include <numeric>
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#include "Analyzer.hpp"
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#if defined(__linux) || defined(__GNUC__ )
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#include <strings.h>
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#endif /* __linux */
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#ifdef _MSC_VER
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#define strcasecmp _stricmp
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#endif
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namespace Slic3r
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{
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namespace PrusaMultiMaterial {
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class Writer
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{
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public:
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Writer(float layer_height, float line_width, GCodeFlavor flavor) :
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m_current_pos(std::numeric_limits<float>::max(), std::numeric_limits<float>::max()),
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m_current_z(0.f),
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m_current_feedrate(0.f),
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m_layer_height(layer_height),
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m_extrusion_flow(0.f),
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m_preview_suppressed(false),
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m_elapsed_time(0.f),
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m_default_analyzer_line_width(line_width),
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m_gcode_flavor(flavor)
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{
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// adds tag for analyzer:
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char buf[64];
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sprintf(buf, ";%s%f\n", GCodeAnalyzer::Height_Tag.c_str(), m_layer_height); // don't rely on GCodeAnalyzer knowing the layer height - it knows nothing at priming
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m_gcode += buf;
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sprintf(buf, ";%s%d\n", GCodeAnalyzer::Extrusion_Role_Tag.c_str(), erWipeTower);
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m_gcode += buf;
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change_analyzer_line_width(line_width);
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}
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Writer& change_analyzer_line_width(float line_width) {
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// adds tag for analyzer:
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char buf[64];
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sprintf(buf, ";%s%f\n", GCodeAnalyzer::Width_Tag.c_str(), line_width);
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m_gcode += buf;
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return *this;
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}
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Writer& set_initial_position(const WipeTower::xy &pos, float width = 0.f, float depth = 0.f, float internal_angle = 0.f) {
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m_wipe_tower_width = width;
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m_wipe_tower_depth = depth;
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m_internal_angle = internal_angle;
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m_start_pos = WipeTower::xy(pos,0.f,m_y_shift).rotate(m_wipe_tower_width, m_wipe_tower_depth, m_internal_angle);
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m_current_pos = pos;
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return *this;
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}
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Writer& set_initial_tool(const unsigned int tool) { m_current_tool = tool; return *this; }
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Writer& set_z(float z)
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{ m_current_z = z; return *this; }
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Writer& set_extrusion_flow(float flow)
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{ m_extrusion_flow = flow; return *this; }
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Writer& set_y_shift(float shift) {
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m_current_pos.y -= shift-m_y_shift;
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m_y_shift = shift;
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return (*this);
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}
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// Suppress / resume G-code preview in Slic3r. Slic3r will have difficulty to differentiate the various
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// filament loading and cooling moves from normal extrusion moves. Therefore the writer
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// is asked to suppres output of some lines, which look like extrusions.
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Writer& suppress_preview() { change_analyzer_line_width(0.f); m_preview_suppressed = true; return *this; }
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Writer& resume_preview() { change_analyzer_line_width(m_default_analyzer_line_width); m_preview_suppressed = false; return *this; }
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Writer& feedrate(float f)
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{
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if (f != m_current_feedrate)
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m_gcode += "G1" + set_format_F(f) + "\n";
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return *this;
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}
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const std::string& gcode() const { return m_gcode; }
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const std::vector<WipeTower::Extrusion>& extrusions() const { return m_extrusions; }
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float x() const { return m_current_pos.x; }
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float y() const { return m_current_pos.y; }
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const WipeTower::xy& pos() const { return m_current_pos; }
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const WipeTower::xy start_pos_rotated() const { return m_start_pos; }
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const WipeTower::xy pos_rotated() const { return WipeTower::xy(m_current_pos, 0.f, m_y_shift).rotate(m_wipe_tower_width, m_wipe_tower_depth, m_internal_angle); }
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float elapsed_time() const { return m_elapsed_time; }
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float get_and_reset_used_filament_length() { float temp = m_used_filament_length; m_used_filament_length = 0.f; return temp; }
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// Extrude with an explicitely provided amount of extrusion.
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Writer& extrude_explicit(float x, float y, float e, float f = 0.f, bool record_length = false)
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{
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if (x == m_current_pos.x && y == m_current_pos.y && e == 0.f && (f == 0.f || f == m_current_feedrate))
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// Neither extrusion nor a travel move.
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return *this;
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float dx = x - m_current_pos.x;
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float dy = y - m_current_pos.y;
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double len = sqrt(dx*dx+dy*dy);
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if (record_length)
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m_used_filament_length += e;
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// Now do the "internal rotation" with respect to the wipe tower center
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WipeTower::xy rotated_current_pos(WipeTower::xy(m_current_pos,0.f,m_y_shift).rotate(m_wipe_tower_width, m_wipe_tower_depth, m_internal_angle)); // this is where we are
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WipeTower::xy rot(WipeTower::xy(x,y+m_y_shift).rotate(m_wipe_tower_width, m_wipe_tower_depth, m_internal_angle)); // this is where we want to go
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if (! m_preview_suppressed && e > 0.f && len > 0.) {
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// Width of a squished extrusion, corrected for the roundings of the squished extrusions.
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// This is left zero if it is a travel move.
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float width = float(double(e) * /*Filament_Area*/2.40528 / (len * m_layer_height));
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// Correct for the roundings of a squished extrusion.
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width += m_layer_height * float(1. - M_PI / 4.);
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if (m_extrusions.empty() || m_extrusions.back().pos != rotated_current_pos)
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m_extrusions.emplace_back(WipeTower::Extrusion(rotated_current_pos, 0, m_current_tool));
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m_extrusions.emplace_back(WipeTower::Extrusion(WipeTower::xy(rot.x, rot.y), width, m_current_tool));
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}
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m_gcode += "G1";
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if (std::abs(rot.x - rotated_current_pos.x) > EPSILON)
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m_gcode += set_format_X(rot.x);
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if (std::abs(rot.y - rotated_current_pos.y) > EPSILON)
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m_gcode += set_format_Y(rot.y);
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if (e != 0.f)
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m_gcode += set_format_E(e);
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if (f != 0.f && f != m_current_feedrate)
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m_gcode += set_format_F(f);
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m_current_pos.x = x;
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m_current_pos.y = y;
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// Update the elapsed time with a rough estimate.
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m_elapsed_time += ((len == 0) ? std::abs(e) : len) / m_current_feedrate * 60.f;
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m_gcode += "\n";
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return *this;
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}
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Writer& extrude_explicit(const WipeTower::xy &dest, float e, float f = 0.f, bool record_length = false)
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{ return extrude_explicit(dest.x, dest.y, e, f, record_length); }
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// Travel to a new XY position. f=0 means use the current value.
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Writer& travel(float x, float y, float f = 0.f)
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{ return extrude_explicit(x, y, 0.f, f); }
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Writer& travel(const WipeTower::xy &dest, float f = 0.f)
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{ return extrude_explicit(dest.x, dest.y, 0.f, f); }
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// Extrude a line from current position to x, y with the extrusion amount given by m_extrusion_flow.
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Writer& extrude(float x, float y, float f = 0.f)
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{
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float dx = x - m_current_pos.x;
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float dy = y - m_current_pos.y;
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return extrude_explicit(x, y, sqrt(dx*dx+dy*dy) * m_extrusion_flow, f, true);
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}
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Writer& extrude(const WipeTower::xy &dest, const float f = 0.f)
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{ return extrude(dest.x, dest.y, f); }
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Writer& rectangle(const WipeTower::xy& ld,float width,float height,const float f = 0.f)
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{
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WipeTower::xy corners[4];
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corners[0] = ld;
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corners[1] = WipeTower::xy(ld,width,0.f);
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corners[2] = WipeTower::xy(ld,width,height);
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corners[3] = WipeTower::xy(ld,0.f,height);
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int index_of_closest = 0;
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if (x()-ld.x > ld.x+width-x()) // closer to the right
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index_of_closest = 1;
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if (y()-ld.y > ld.y+height-y()) // closer to the top
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index_of_closest = (index_of_closest==0 ? 3 : 2);
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travel(corners[index_of_closest].x, y()); // travel to the closest corner
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travel(x(),corners[index_of_closest].y);
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int i = index_of_closest;
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do {
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++i;
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if (i==4) i=0;
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extrude(corners[i], f);
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} while (i != index_of_closest);
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return (*this);
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}
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Writer& load(float e, float f = 0.f)
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{
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if (e == 0.f && (f == 0.f || f == m_current_feedrate))
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return *this;
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m_gcode += "G1";
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if (e != 0.f)
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m_gcode += set_format_E(e);
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if (f != 0.f && f != m_current_feedrate)
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m_gcode += set_format_F(f);
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m_gcode += "\n";
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return *this;
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}
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// Derectract while moving in the X direction.
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// If |x| > 0, the feed rate relates to the x distance,
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// otherwise the feed rate relates to the e distance.
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Writer& load_move_x(float x, float e, float f = 0.f)
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{ return extrude_explicit(x, m_current_pos.y, e, f); }
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Writer& retract(float e, float f = 0.f)
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{ return load(-e, f); }
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// Loads filament while also moving towards given points in x-axis (x feedrate is limited by cutting the distance short if necessary)
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Writer& load_move_x_advanced(float farthest_x, float loading_dist, float loading_speed, float max_x_speed = 50.f)
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{
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float time = std::abs(loading_dist / loading_speed);
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float x_speed = std::min(max_x_speed, std::abs(farthest_x - x()) / time);
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float feedrate = 60.f * std::hypot(x_speed, loading_speed);
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float end_point = x() + (farthest_x > x() ? 1.f : -1.f) * x_speed * time;
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return extrude_explicit(end_point, y(), loading_dist, feedrate);
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}
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// Elevate the extruder head above the current print_z position.
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Writer& z_hop(float hop, float f = 0.f)
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{
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m_gcode += std::string("G1") + set_format_Z(m_current_z + hop);
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if (f != 0 && f != m_current_feedrate)
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m_gcode += set_format_F(f);
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m_gcode += "\n";
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return *this;
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}
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// Lower the extruder head back to the current print_z position.
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Writer& z_hop_reset(float f = 0.f)
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{ return z_hop(0, f); }
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// Move to x1, +y_increment,
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// extrude quickly amount e to x2 with feed f.
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Writer& ram(float x1, float x2, float dy, float e0, float e, float f)
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{
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extrude_explicit(x1, m_current_pos.y + dy, e0, f, true);
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extrude_explicit(x2, m_current_pos.y, e, 0.f, true);
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return *this;
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}
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// Let the end of the pulled out filament cool down in the cooling tube
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// by moving up and down and moving the print head left / right
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// at the current Y position to spread the leaking material.
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Writer& cool(float x1, float x2, float e1, float e2, float f)
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{
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extrude_explicit(x1, m_current_pos.y, e1, f);
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extrude_explicit(x2, m_current_pos.y, e2);
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return *this;
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}
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Writer& set_tool(int tool)
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{
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char buf[64];
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sprintf(buf, "T%d\n", tool);
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m_gcode += buf;
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m_current_tool = tool;
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return *this;
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}
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// Set extruder temperature, don't wait by default.
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Writer& set_extruder_temp(int temperature, bool wait = false)
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{
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char buf[128];
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sprintf(buf, "M%d S%d\n", wait ? 109 : 104, temperature);
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m_gcode += buf;
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return *this;
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};
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// Wait for a period of time (seconds).
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Writer& wait(float time)
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{
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if (time==0)
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return *this;
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char buf[128];
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sprintf(buf, "G4 S%.3f\n", time);
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m_gcode += buf;
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return *this;
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};
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// Set speed factor override percentage.
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Writer& speed_override(int speed)
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{
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char buf[128];
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sprintf(buf, "M220 S%d\n", speed);
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m_gcode += buf;
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return *this;
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};
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// Let the firmware back up the active speed override value.
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Writer& speed_override_backup()
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{
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m_gcode += "M220 B\n";
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return *this;
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};
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// Let the firmware restore the active speed override value.
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Writer& speed_override_restore()
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{
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m_gcode += "M220 R\n";
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return *this;
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};
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// Set digital trimpot motor
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Writer& set_extruder_trimpot(int current)
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{
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char buf[128];
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if (m_gcode_flavor == gcfRepRap)
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sprintf(buf, "M906 E%d\n", current);
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else
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sprintf(buf, "M907 E%d\n", current);
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m_gcode += buf;
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return *this;
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};
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Writer& flush_planner_queue()
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{
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m_gcode += "G4 S0\n";
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return *this;
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}
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// Reset internal extruder counter.
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Writer& reset_extruder()
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{
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m_gcode += "G92 E0\n";
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return *this;
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}
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Writer& comment_with_value(const char *comment, int value)
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{
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char strvalue[64];
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sprintf(strvalue, "%d", value);
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m_gcode += std::string(";") + comment + strvalue + "\n";
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return *this;
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};
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Writer& set_fan(unsigned int speed)
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{
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if (speed == m_last_fan_speed)
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return *this;
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if (speed == 0)
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m_gcode += "M107\n";
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else
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{
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m_gcode += "M106 S";
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char buf[128];
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sprintf(buf,"%u\n",(unsigned int)(255.0 * speed / 100.0));
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m_gcode += buf;
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}
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m_last_fan_speed = speed;
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return *this;
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}
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Writer& comment_material(WipeTowerPrusaMM::material_type material)
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{
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m_gcode += "; material : ";
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m_gcode += WipeTowerPrusaMM::to_string(material) + "\n";
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return *this;
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};
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Writer& append(const char *text) { m_gcode += text; return *this; }
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private:
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WipeTower::xy m_start_pos;
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WipeTower::xy m_current_pos;
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float m_current_z;
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float m_current_feedrate;
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unsigned int m_current_tool;
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float m_layer_height;
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float m_extrusion_flow;
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bool m_preview_suppressed;
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std::string m_gcode;
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std::vector<WipeTower::Extrusion> m_extrusions;
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float m_elapsed_time;
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float m_internal_angle = 0.f;
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float m_y_shift = 0.f;
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float m_wipe_tower_width = 0.f;
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float m_wipe_tower_depth = 0.f;
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float m_last_fan_speed = 0.f;
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int current_temp = -1;
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const float m_default_analyzer_line_width;
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float m_used_filament_length = 0.f;
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GCodeFlavor m_gcode_flavor;
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std::string set_format_X(float x)
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{
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char buf[64];
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sprintf(buf, " X%.3f", x);
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m_current_pos.x = x;
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return buf;
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}
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std::string set_format_Y(float y) {
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char buf[64];
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sprintf(buf, " Y%.3f", y);
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m_current_pos.y = y;
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return buf;
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}
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std::string set_format_Z(float z) {
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char buf[64];
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sprintf(buf, " Z%.3f", z);
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return buf;
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}
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std::string set_format_E(float e) {
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char buf[64];
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sprintf(buf, " E%.4f", e);
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return buf;
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}
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std::string set_format_F(float f) {
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char buf[64];
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sprintf(buf, " F%d", int(floor(f + 0.5f)));
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m_current_feedrate = f;
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return buf;
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}
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Writer& operator=(const Writer &rhs);
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}; // class Writer
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}; // namespace PrusaMultiMaterial
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WipeTowerPrusaMM::material_type WipeTowerPrusaMM::parse_material(const char *name)
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{
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if (strcasecmp(name, "PLA") == 0)
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return PLA;
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if (strcasecmp(name, "ABS") == 0)
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return ABS;
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if (strcasecmp(name, "PET") == 0)
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|
return PET;
|
|
if (strcasecmp(name, "HIPS") == 0)
|
|
return HIPS;
|
|
if (strcasecmp(name, "FLEX") == 0)
|
|
return FLEX;
|
|
if (strcasecmp(name, "SCAFF") == 0)
|
|
return SCAFF;
|
|
if (strcasecmp(name, "EDGE") == 0)
|
|
return EDGE;
|
|
if (strcasecmp(name, "NGEN") == 0)
|
|
return NGEN;
|
|
if (strcasecmp(name, "PVA") == 0)
|
|
return PVA;
|
|
if (strcasecmp(name, "PC") == 0)
|
|
return PC;
|
|
return INVALID;
|
|
}
|
|
|
|
std::string WipeTowerPrusaMM::to_string(material_type material)
|
|
{
|
|
switch (material) {
|
|
case PLA: return "PLA";
|
|
case ABS: return "ABS";
|
|
case PET: return "PET";
|
|
case HIPS: return "HIPS";
|
|
case FLEX: return "FLEX";
|
|
case SCAFF: return "SCAFF";
|
|
case EDGE: return "EDGE";
|
|
case NGEN: return "NGEN";
|
|
case PVA: return "PVA";
|
|
case PC: return "PC";
|
|
case INVALID:
|
|
default: return "INVALID";
|
|
}
|
|
}
|
|
|
|
// Returns gcode to prime the nozzles at the front edge of the print bed.
|
|
WipeTower::ToolChangeResult WipeTowerPrusaMM::prime(
|
|
// print_z of the first layer.
|
|
float first_layer_height,
|
|
// Extruder indices, in the order to be primed. The last extruder will later print the wipe tower brim, print brim and the object.
|
|
const std::vector<unsigned int> &tools,
|
|
// If true, the last priming are will be the same as the other priming areas, and the rest of the wipe will be performed inside the wipe tower.
|
|
// If false, the last priming are will be large enough to wipe the last extruder sufficiently.
|
|
bool last_wipe_inside_wipe_tower)
|
|
{
|
|
this->set_layer(first_layer_height, first_layer_height, tools.size(), true, false);
|
|
this->m_current_tool = tools.front();
|
|
|
|
// The Prusa i3 MK2 has a working space of [0, -2.2] to [250, 210].
|
|
// Due to the XYZ calibration, this working space may shrink slightly from all directions,
|
|
// therefore the homing position is shifted inside the bed by 0.2 in the firmware to [0.2, -2.0].
|
|
// box_coordinates cleaning_box(xy(0.5f, - 1.5f), m_wipe_tower_width, wipe_area);
|
|
|
|
const float prime_section_width = std::min(240.f / tools.size(), 60.f);
|
|
box_coordinates cleaning_box(xy(5.f, 0.01f + m_perimeter_width/2.f), prime_section_width, 100.f);
|
|
|
|
PrusaMultiMaterial::Writer writer(m_layer_height, m_perimeter_width, m_gcode_flavor);
|
|
writer.set_extrusion_flow(m_extrusion_flow)
|
|
.set_z(m_z_pos)
|
|
.set_initial_tool(m_current_tool)
|
|
.append(";--------------------\n"
|
|
"; CP PRIMING START\n")
|
|
.append(";--------------------\n");
|
|
if (m_retain_speed_override)
|
|
writer.speed_override_backup();
|
|
writer.speed_override(100);
|
|
|
|
writer.set_initial_position(xy(0.f, 0.f)) // Always move to the starting position
|
|
.travel(cleaning_box.ld, 7200);
|
|
if (m_set_extruder_trimpot)
|
|
writer.set_extruder_trimpot(750); // Increase the extruder driver current to allow fast ramming.
|
|
|
|
for (size_t idx_tool = 0; idx_tool < tools.size(); ++ idx_tool) {
|
|
unsigned int tool = tools[idx_tool];
|
|
m_left_to_right = true;
|
|
toolchange_Change(writer, tool, m_filpar[tool].material); // Select the tool, set a speed override for soluble and flex materials.
|
|
toolchange_Load(writer, cleaning_box); // Prime the tool.
|
|
if (idx_tool + 1 == tools.size()) {
|
|
// Last tool should not be unloaded, but it should be wiped enough to become of a pure color.
|
|
toolchange_Wipe(writer, cleaning_box, wipe_volumes[tools[idx_tool-1]][tool]);
|
|
} else {
|
|
// Ram the hot material out of the melt zone, retract the filament into the cooling tubes and let it cool.
|
|
//writer.travel(writer.x(), writer.y() + m_perimeter_width, 7200);
|
|
toolchange_Wipe(writer, cleaning_box , 20.f);
|
|
box_coordinates box = cleaning_box;
|
|
box.translate(0.f, writer.y() - cleaning_box.ld.y + m_perimeter_width);
|
|
toolchange_Unload(writer, box , m_filpar[m_current_tool].material, m_filpar[tools[idx_tool + 1]].first_layer_temperature);
|
|
cleaning_box.translate(prime_section_width, 0.f);
|
|
writer.travel(cleaning_box.ld, 7200);
|
|
}
|
|
++ m_num_tool_changes;
|
|
}
|
|
|
|
m_old_temperature = -1; // If the priming is turned off in config, the temperature changing commands will not actually appear
|
|
// in the output gcode - we should not remember emitting them (we will output them twice in the worst case)
|
|
|
|
// Reset the extruder current to a normal value.
|
|
if (m_set_extruder_trimpot)
|
|
writer.set_extruder_trimpot(550);
|
|
if (m_retain_speed_override)
|
|
writer.speed_override_restore();
|
|
writer.feedrate(6000)
|
|
.flush_planner_queue()
|
|
.reset_extruder()
|
|
.append("; CP PRIMING END\n"
|
|
";------------------\n"
|
|
"\n\n");
|
|
|
|
// so that tool_change() will know to extrude the wipe tower brim:
|
|
m_print_brim = true;
|
|
|
|
// Ask our writer about how much material was consumed:
|
|
if (m_current_tool < m_used_filament_length.size())
|
|
m_used_filament_length[m_current_tool] += writer.get_and_reset_used_filament_length();
|
|
|
|
ToolChangeResult result;
|
|
result.priming = true;
|
|
result.print_z = this->m_z_pos;
|
|
result.layer_height = this->m_layer_height;
|
|
result.gcode = writer.gcode();
|
|
result.elapsed_time = writer.elapsed_time();
|
|
result.extrusions = writer.extrusions();
|
|
result.start_pos = writer.start_pos_rotated();
|
|
result.end_pos = writer.pos_rotated();
|
|
return result;
|
|
}
|
|
|
|
WipeTower::ToolChangeResult WipeTowerPrusaMM::tool_change(unsigned int tool, bool last_in_layer)
|
|
{
|
|
if ( m_print_brim )
|
|
return toolchange_Brim();
|
|
|
|
float wipe_area = 0.f;
|
|
bool last_change_in_layer = false;
|
|
float wipe_volume = 0.f;
|
|
|
|
// Finds this toolchange info
|
|
if (tool != (unsigned int)(-1))
|
|
{
|
|
for (const auto &b : m_layer_info->tool_changes)
|
|
if ( b.new_tool == tool ) {
|
|
wipe_volume = b.wipe_volume;
|
|
if (tool == m_layer_info->tool_changes.back().new_tool)
|
|
last_change_in_layer = true;
|
|
wipe_area = b.required_depth * m_layer_info->extra_spacing;
|
|
break;
|
|
}
|
|
}
|
|
else {
|
|
// Otherwise we are going to Unload only. And m_layer_info would be invalid.
|
|
}
|
|
|
|
box_coordinates cleaning_box(
|
|
xy(m_perimeter_width / 2.f, m_perimeter_width / 2.f),
|
|
m_wipe_tower_width - m_perimeter_width,
|
|
(tool != (unsigned int)(-1) ? /*m_layer_info->depth*/wipe_area+m_depth_traversed-0.5*m_perimeter_width
|
|
: m_wipe_tower_depth-m_perimeter_width));
|
|
|
|
PrusaMultiMaterial::Writer writer(m_layer_height, m_perimeter_width, m_gcode_flavor);
|
|
writer.set_extrusion_flow(m_extrusion_flow)
|
|
.set_z(m_z_pos)
|
|
.set_initial_tool(m_current_tool)
|
|
.set_y_shift(m_y_shift + (tool!=(unsigned int)(-1) && (m_current_shape == SHAPE_REVERSED && !m_peters_wipe_tower) ? m_layer_info->depth - m_layer_info->toolchanges_depth(): 0.f))
|
|
.append(";--------------------\n"
|
|
"; CP TOOLCHANGE START\n")
|
|
.comment_with_value(" toolchange #", m_num_tool_changes + 1) // the number is zero-based
|
|
.comment_material(m_filpar[m_current_tool].material)
|
|
.append(";--------------------\n");
|
|
if (m_retain_speed_override)
|
|
writer.speed_override_backup();
|
|
writer.speed_override(100);
|
|
|
|
xy initial_position = cleaning_box.ld + WipeTower::xy(0.f,m_depth_traversed);
|
|
writer.set_initial_position(initial_position, m_wipe_tower_width, m_wipe_tower_depth, m_internal_rotation);
|
|
|
|
// Increase the extruder driver current to allow fast ramming.
|
|
if (m_set_extruder_trimpot)
|
|
writer.set_extruder_trimpot(750);
|
|
|
|
// Ram the hot material out of the melt zone, retract the filament into the cooling tubes and let it cool.
|
|
if (tool != (unsigned int)-1){ // This is not the last change.
|
|
toolchange_Unload(writer, cleaning_box, m_filpar[m_current_tool].material,
|
|
m_is_first_layer ? m_filpar[tool].first_layer_temperature : m_filpar[tool].temperature);
|
|
toolchange_Change(writer, tool, m_filpar[tool].material); // Change the tool, set a speed override for soluble and flex materials.
|
|
toolchange_Load(writer, cleaning_box);
|
|
writer.travel(writer.x(),writer.y()-m_perimeter_width); // cooling and loading were done a bit down the road
|
|
toolchange_Wipe(writer, cleaning_box, wipe_volume); // Wipe the newly loaded filament until the end of the assigned wipe area.
|
|
++ m_num_tool_changes;
|
|
} else
|
|
toolchange_Unload(writer, cleaning_box, m_filpar[m_current_tool].material, m_filpar[m_current_tool].temperature);
|
|
|
|
m_depth_traversed += wipe_area;
|
|
|
|
if (last_change_in_layer) {// draw perimeter line
|
|
writer.set_y_shift(m_y_shift);
|
|
if (m_peters_wipe_tower)
|
|
writer.rectangle(WipeTower::xy(0.f, 0.f),m_layer_info->depth + 3*m_perimeter_width,m_wipe_tower_depth);
|
|
else {
|
|
writer.rectangle(WipeTower::xy(0.f, 0.f),m_wipe_tower_width, m_layer_info->depth + m_perimeter_width);
|
|
if (layer_finished()) { // no finish_layer will be called, we must wipe the nozzle
|
|
writer.travel(writer.x()> m_wipe_tower_width / 2.f ? 0.f : m_wipe_tower_width, writer.y());
|
|
}
|
|
}
|
|
}
|
|
|
|
if (m_set_extruder_trimpot)
|
|
writer.set_extruder_trimpot(550); // Reset the extruder current to a normal value.
|
|
if (m_retain_speed_override)
|
|
writer.speed_override_restore();
|
|
writer.feedrate(6000)
|
|
.flush_planner_queue()
|
|
.reset_extruder()
|
|
.append("; CP TOOLCHANGE END\n"
|
|
";------------------\n"
|
|
"\n\n");
|
|
|
|
// Ask our writer about how much material was consumed:
|
|
if (m_current_tool < m_used_filament_length.size())
|
|
m_used_filament_length[m_current_tool] += writer.get_and_reset_used_filament_length();
|
|
|
|
ToolChangeResult result;
|
|
result.priming = false;
|
|
result.print_z = this->m_z_pos;
|
|
result.layer_height = this->m_layer_height;
|
|
result.gcode = writer.gcode();
|
|
result.elapsed_time = writer.elapsed_time();
|
|
result.extrusions = writer.extrusions();
|
|
result.start_pos = writer.start_pos_rotated();
|
|
result.end_pos = writer.pos_rotated();
|
|
return result;
|
|
}
|
|
|
|
WipeTower::ToolChangeResult WipeTowerPrusaMM::toolchange_Brim(bool sideOnly, float y_offset)
|
|
{
|
|
const box_coordinates wipeTower_box(
|
|
WipeTower::xy(0.f, 0.f),
|
|
m_wipe_tower_width,
|
|
m_wipe_tower_depth);
|
|
|
|
PrusaMultiMaterial::Writer writer(m_layer_height, m_perimeter_width, m_gcode_flavor);
|
|
writer.set_extrusion_flow(m_extrusion_flow * 1.1f)
|
|
.set_z(m_z_pos) // Let the writer know the current Z position as a base for Z-hop.
|
|
.set_initial_tool(m_current_tool)
|
|
.append(";-------------------------------------\n"
|
|
"; CP WIPE TOWER FIRST LAYER BRIM START\n");
|
|
|
|
xy initial_position = wipeTower_box.lu - xy(m_perimeter_width * 6.f, 0);
|
|
writer.set_initial_position(initial_position, m_wipe_tower_width, m_wipe_tower_depth, m_internal_rotation);
|
|
|
|
writer.extrude_explicit(wipeTower_box.ld - xy(m_perimeter_width * 6.f, 0), // Prime the extruder left of the wipe tower.
|
|
1.5f * m_extrusion_flow * (wipeTower_box.lu.y - wipeTower_box.ld.y), 2400);
|
|
|
|
// The tool is supposed to be active and primed at the time when the wipe tower brim is extruded.
|
|
// Extrude 4 rounds of a brim around the future wipe tower.
|
|
box_coordinates box(wipeTower_box);
|
|
for (size_t i = 0; i < 4; ++ i) {
|
|
box.expand(m_perimeter_width - m_layer_height*(1.f-M_PI_4)); // the brim shall have 'normal' spacing with no extra void space
|
|
writer.travel (box.ld, 7000)
|
|
.extrude(box.lu, 2100).extrude(box.ru)
|
|
.extrude(box.rd ).extrude(box.ld);
|
|
}
|
|
|
|
writer.travel(wipeTower_box.ld, 7000); // Move to the front left corner.
|
|
writer.travel(wipeTower_box.rd) // Always wipe the nozzle with a long wipe to reduce stringing when moving away from the wipe tower.
|
|
.travel(wipeTower_box.ld);
|
|
writer.append("; CP WIPE TOWER FIRST LAYER BRIM END\n"
|
|
";-----------------------------------\n");
|
|
|
|
m_print_brim = false; // Mark the brim as extruded
|
|
|
|
// Ask our writer about how much material was consumed:
|
|
if (m_current_tool < m_used_filament_length.size())
|
|
m_used_filament_length[m_current_tool] += writer.get_and_reset_used_filament_length();
|
|
|
|
ToolChangeResult result;
|
|
result.priming = false;
|
|
result.print_z = this->m_z_pos;
|
|
result.layer_height = this->m_layer_height;
|
|
result.gcode = writer.gcode();
|
|
result.elapsed_time = writer.elapsed_time();
|
|
result.extrusions = writer.extrusions();
|
|
result.start_pos = writer.start_pos_rotated();
|
|
result.end_pos = writer.pos_rotated();
|
|
return result;
|
|
}
|
|
|
|
|
|
|
|
// Ram the hot material out of the melt zone, retract the filament into the cooling tubes and let it cool.
|
|
void WipeTowerPrusaMM::toolchange_Unload(
|
|
PrusaMultiMaterial::Writer &writer,
|
|
const box_coordinates &cleaning_box,
|
|
const material_type current_material,
|
|
const int new_temperature)
|
|
{
|
|
float xl = cleaning_box.ld.x + 1.f * m_perimeter_width;
|
|
float xr = cleaning_box.rd.x - 1.f * m_perimeter_width;
|
|
|
|
const float line_width = m_perimeter_width * m_filpar[m_current_tool].ramming_line_width_multiplicator; // desired ramming line thickness
|
|
const float y_step = line_width * m_filpar[m_current_tool].ramming_step_multiplicator * m_extra_spacing; // spacing between lines in mm
|
|
|
|
writer.append("; CP TOOLCHANGE UNLOAD\n")
|
|
.change_analyzer_line_width(line_width);
|
|
|
|
unsigned i = 0; // iterates through ramming_speed
|
|
m_left_to_right = true; // current direction of ramming
|
|
float remaining = xr - xl ; // keeps track of distance to the next turnaround
|
|
float e_done = 0; // measures E move done from each segment
|
|
|
|
writer.travel(xl, cleaning_box.ld.y + m_depth_traversed + y_step/2.f ); // move to starting position
|
|
|
|
// if the ending point of the ram would end up in mid air, align it with the end of the wipe tower:
|
|
if (m_layer_info > m_plan.begin() && m_layer_info < m_plan.end() && (m_layer_info-1!=m_plan.begin() || !m_adhesion )) {
|
|
|
|
// this is y of the center of previous sparse infill border
|
|
float sparse_beginning_y = 0.f;
|
|
if (m_current_shape == SHAPE_REVERSED)
|
|
sparse_beginning_y += ((m_layer_info-1)->depth - (m_layer_info-1)->toolchanges_depth())
|
|
- ((m_layer_info)->depth-(m_layer_info)->toolchanges_depth()) ;
|
|
else
|
|
sparse_beginning_y += (m_layer_info-1)->toolchanges_depth() + m_perimeter_width;
|
|
|
|
//debugging:
|
|
/* float oldx = writer.x();
|
|
float oldy = writer.y();
|
|
writer.travel(xr,sparse_beginning_y);
|
|
writer.extrude(xr+5,writer.y());
|
|
writer.travel(oldx,oldy);*/
|
|
|
|
float sum_of_depths = 0.f;
|
|
for (const auto& tch : m_layer_info->tool_changes) { // let's find this toolchange
|
|
if (tch.old_tool == m_current_tool) {
|
|
sum_of_depths += tch.ramming_depth;
|
|
float ramming_end_y = sum_of_depths;
|
|
ramming_end_y -= (y_step/m_extra_spacing-m_perimeter_width) / 2.f; // center of final ramming line
|
|
|
|
// debugging:
|
|
/*float oldx = writer.x();
|
|
float oldy = writer.y();
|
|
writer.travel(xl,ramming_end_y);
|
|
writer.extrude(xl-15,writer.y());
|
|
writer.travel(oldx,oldy);*/
|
|
|
|
if ( (m_current_shape == SHAPE_REVERSED && ramming_end_y < sparse_beginning_y - 0.5f*m_perimeter_width ) ||
|
|
(m_current_shape == SHAPE_NORMAL && ramming_end_y > sparse_beginning_y + 0.5f*m_perimeter_width ) )
|
|
{
|
|
writer.extrude(xl + tch.first_wipe_line-1.f*m_perimeter_width,writer.y());
|
|
remaining -= tch.first_wipe_line-1.f*m_perimeter_width;
|
|
}
|
|
break;
|
|
}
|
|
sum_of_depths += tch.required_depth;
|
|
}
|
|
}
|
|
|
|
// now the ramming itself:
|
|
while (i < m_filpar[m_current_tool].ramming_speed.size())
|
|
{
|
|
const float x = volume_to_length(m_filpar[m_current_tool].ramming_speed[i] * 0.25f, line_width, m_layer_height);
|
|
const float e = m_filpar[m_current_tool].ramming_speed[i] * 0.25f / Filament_Area; // transform volume per sec to E move;
|
|
const float dist = std::min(x - e_done, remaining); // distance to travel for either the next 0.25s, or to the next turnaround
|
|
const float actual_time = dist/x * 0.25;
|
|
writer.ram(writer.x(), writer.x() + (m_left_to_right ? 1.f : -1.f) * dist, 0, 0, e * (dist / x), std::hypot(dist, e * (dist / x)) / (actual_time / 60.));
|
|
remaining -= dist;
|
|
|
|
if (remaining < WT_EPSILON) { // we reached a turning point
|
|
writer.travel(writer.x(), writer.y() + y_step, 7200);
|
|
m_left_to_right = !m_left_to_right;
|
|
remaining = xr - xl;
|
|
}
|
|
e_done += dist; // subtract what was actually done
|
|
if (e_done > x - WT_EPSILON) { // current segment finished
|
|
++i;
|
|
e_done = 0;
|
|
}
|
|
}
|
|
WipeTower::xy end_of_ramming(writer.x(),writer.y());
|
|
writer.change_analyzer_line_width(m_perimeter_width); // so the next lines are not affected by ramming_line_width_multiplier
|
|
|
|
// Retraction:
|
|
float old_x = writer.x();
|
|
float turning_point = (!m_left_to_right ? xl : xr );
|
|
float total_retraction_distance = m_cooling_tube_retraction + m_cooling_tube_length/2.f - 15.f; // the 15mm is reserved for the first part after ramming
|
|
writer.suppress_preview()
|
|
.retract(15.f, m_filpar[m_current_tool].unloading_speed_start * 60.f) // feedrate 5000mm/min = 83mm/s
|
|
.retract(0.70f * total_retraction_distance, 1.0f * m_filpar[m_current_tool].unloading_speed * 60.f)
|
|
.retract(0.20f * total_retraction_distance, 0.5f * m_filpar[m_current_tool].unloading_speed * 60.f)
|
|
.retract(0.10f * total_retraction_distance, 0.3f * m_filpar[m_current_tool].unloading_speed * 60.f)
|
|
|
|
/*.load_move_x_advanced(turning_point, -15.f, 83.f, 50.f) // this is done at fixed speed
|
|
.load_move_x_advanced(old_x, -0.70f * total_retraction_distance, 1.0f * m_filpar[m_current_tool].unloading_speed)
|
|
.load_move_x_advanced(turning_point, -0.20f * total_retraction_distance, 0.5f * m_filpar[m_current_tool].unloading_speed)
|
|
.load_move_x_advanced(old_x, -0.10f * total_retraction_distance, 0.3f * m_filpar[m_current_tool].unloading_speed)
|
|
.travel(old_x, writer.y()) // in case previous move was shortened to limit feedrate*/
|
|
.resume_preview();
|
|
if (new_temperature != 0 && (new_temperature != m_old_temperature || m_is_first_layer) ) { // Set the extruder temperature, but don't wait.
|
|
// If the required temperature is the same as last time, don't emit the M104 again (if user adjusted the value, it would be reset)
|
|
// However, always change temperatures on the first layer (this is to avoid issues with priming lines turned off).
|
|
writer.set_extruder_temp(new_temperature, false);
|
|
m_old_temperature = new_temperature;
|
|
}
|
|
|
|
// Cooling:
|
|
const int& number_of_moves = m_filpar[m_current_tool].cooling_moves;
|
|
if (number_of_moves > 0) {
|
|
const float& initial_speed = m_filpar[m_current_tool].cooling_initial_speed;
|
|
const float& final_speed = m_filpar[m_current_tool].cooling_final_speed;
|
|
|
|
float speed_inc = (final_speed - initial_speed) / (2.f * number_of_moves - 1.f);
|
|
|
|
writer.suppress_preview()
|
|
.travel(writer.x(), writer.y() + y_step);
|
|
old_x = writer.x();
|
|
turning_point = xr-old_x > old_x-xl ? xr : xl;
|
|
for (int i=0; i<number_of_moves; ++i) {
|
|
float speed = initial_speed + speed_inc * 2*i;
|
|
writer.load_move_x_advanced(turning_point, m_cooling_tube_length, speed);
|
|
speed += speed_inc;
|
|
writer.load_move_x_advanced(old_x, -m_cooling_tube_length, speed);
|
|
}
|
|
}
|
|
|
|
// let's wait is necessary:
|
|
writer.wait(m_filpar[m_current_tool].delay);
|
|
// we should be at the beginning of the cooling tube again - let's move to parking position:
|
|
writer.retract(-m_cooling_tube_length/2.f+m_parking_pos_retraction-m_cooling_tube_retraction, 2000);
|
|
|
|
// this is to align ramming and future wiping extrusions, so the future y-steps can be uniform from the start:
|
|
// the perimeter_width will later be subtracted, it is there to not load while moving over just extruded material
|
|
writer.travel(end_of_ramming.x, end_of_ramming.y + (y_step/m_extra_spacing-m_perimeter_width) / 2.f + m_perimeter_width, 2400.f);
|
|
|
|
writer.resume_preview()
|
|
.flush_planner_queue();
|
|
}
|
|
|
|
// Change the tool, set a speed override for soluble and flex materials.
|
|
void WipeTowerPrusaMM::toolchange_Change(
|
|
PrusaMultiMaterial::Writer &writer,
|
|
const unsigned int new_tool,
|
|
material_type new_material)
|
|
{
|
|
// Ask the writer about how much of the old filament we consumed:
|
|
if (m_current_tool < m_used_filament_length.size())
|
|
m_used_filament_length[m_current_tool] += writer.get_and_reset_used_filament_length();
|
|
|
|
// Speed override for the material. Go slow for flex and soluble materials.
|
|
int speed_override;
|
|
switch (new_material) {
|
|
case PVA: speed_override = (m_z_pos < 0.80f) ? 60 : 80; break;
|
|
case SCAFF: speed_override = 35; break;
|
|
case FLEX: speed_override = 35; break;
|
|
default: speed_override = 100;
|
|
}
|
|
writer.set_tool(new_tool);
|
|
if (m_retain_speed_override)
|
|
assert(speed_override == 100);
|
|
else
|
|
writer.speed_override(speed_override);
|
|
writer.flush_planner_queue();
|
|
m_current_tool = new_tool;
|
|
}
|
|
|
|
void WipeTowerPrusaMM::toolchange_Load(
|
|
PrusaMultiMaterial::Writer &writer,
|
|
const box_coordinates &cleaning_box)
|
|
{
|
|
float xl = cleaning_box.ld.x + m_perimeter_width * 0.75f;
|
|
float xr = cleaning_box.rd.x - m_perimeter_width * 0.75f;
|
|
float oldx = writer.x(); // the nozzle is in place to do the first wiping moves, we will remember the position
|
|
|
|
// Load the filament while moving left / right, so the excess material will not create a blob at a single position.
|
|
float turning_point = ( oldx-xl < xr-oldx ? xr : xl );
|
|
float edist = m_parking_pos_retraction+m_extra_loading_move;
|
|
|
|
writer.append("; CP TOOLCHANGE LOAD\n")
|
|
.suppress_preview()
|
|
/*.load_move_x_advanced(turning_point, 0.2f * edist, 0.3f * m_filpar[m_current_tool].loading_speed) // Acceleration
|
|
.load_move_x_advanced(oldx, 0.5f * edist, m_filpar[m_current_tool].loading_speed) // Fast phase
|
|
.load_move_x_advanced(turning_point, 0.2f * edist, 0.3f * m_filpar[m_current_tool].loading_speed) // Slowing down
|
|
.load_move_x_advanced(oldx, 0.1f * edist, 0.1f * m_filpar[m_current_tool].loading_speed) // Super slow*/
|
|
|
|
.load(0.2f * edist, 60.f * m_filpar[m_current_tool].loading_speed_start)
|
|
.load_move_x_advanced(turning_point, 0.7f * edist, m_filpar[m_current_tool].loading_speed) // Fast phase
|
|
.load_move_x_advanced(oldx, 0.1f * edist, 0.1f * m_filpar[m_current_tool].loading_speed) // Super slow*/
|
|
|
|
.travel(oldx, writer.y()) // in case last move was shortened to limit x feedrate
|
|
.resume_preview();
|
|
|
|
// Reset the extruder current to the normal value.
|
|
if (m_set_extruder_trimpot)
|
|
writer.set_extruder_trimpot(550);
|
|
}
|
|
|
|
// Wipe the newly loaded filament until the end of the assigned wipe area.
|
|
void WipeTowerPrusaMM::toolchange_Wipe(
|
|
PrusaMultiMaterial::Writer &writer,
|
|
const box_coordinates &cleaning_box,
|
|
float wipe_volume)
|
|
{
|
|
// Increase flow on first layer, slow down print.
|
|
writer.set_extrusion_flow(m_extrusion_flow * (m_is_first_layer ? 1.18f : 1.f))
|
|
.append("; CP TOOLCHANGE WIPE\n");
|
|
float wipe_coeff = m_is_first_layer ? 0.5f : 1.f;
|
|
const float& xl = cleaning_box.ld.x;
|
|
const float& xr = cleaning_box.rd.x;
|
|
|
|
// Variables x_to_wipe and traversed_x are here to be able to make sure it always wipes at least
|
|
// the ordered volume, even if it means violating the box. This can later be removed and simply
|
|
// wipe until the end of the assigned area.
|
|
|
|
float x_to_wipe = volume_to_length(wipe_volume, m_perimeter_width, m_layer_height);
|
|
float dy = m_extra_spacing*m_perimeter_width;
|
|
float wipe_speed = 1600.f;
|
|
|
|
// if there is less than 2.5*m_perimeter_width to the edge, advance straightaway (there is likely a blob anyway)
|
|
if ((m_left_to_right ? xr-writer.x() : writer.x()-xl) < 2.5f*m_perimeter_width) {
|
|
writer.travel((m_left_to_right ? xr-m_perimeter_width : xl+m_perimeter_width),writer.y()+dy);
|
|
m_left_to_right = !m_left_to_right;
|
|
}
|
|
|
|
// now the wiping itself:
|
|
for (int i = 0; true; ++i) {
|
|
if (i!=0) {
|
|
if (wipe_speed < 1610.f) wipe_speed = 1800.f;
|
|
else if (wipe_speed < 1810.f) wipe_speed = 2200.f;
|
|
else if (wipe_speed < 2210.f) wipe_speed = 4200.f;
|
|
else wipe_speed = std::min(4800.f, wipe_speed + 50.f);
|
|
}
|
|
|
|
float traversed_x = writer.x();
|
|
if (m_left_to_right)
|
|
writer.extrude(xr - (i % 4 == 0 ? 0 : 1.5*m_perimeter_width), writer.y(), wipe_speed * wipe_coeff);
|
|
else
|
|
writer.extrude(xl + (i % 4 == 1 ? 0 : 1.5*m_perimeter_width), writer.y(), wipe_speed * wipe_coeff);
|
|
|
|
if (writer.y()+EPSILON > cleaning_box.lu.y-0.5f*m_perimeter_width)
|
|
break; // in case next line would not fit
|
|
|
|
traversed_x -= writer.x();
|
|
x_to_wipe -= fabs(traversed_x);
|
|
if (x_to_wipe < WT_EPSILON) {
|
|
writer.travel(m_left_to_right ? xl + 1.5*m_perimeter_width : xr - 1.5*m_perimeter_width, writer.y(), 7200);
|
|
break;
|
|
}
|
|
// stepping to the next line:
|
|
writer.extrude(writer.x() + (i % 4 == 0 ? -1.f : (i % 4 == 1 ? 1.f : 0.f)) * 1.5*m_perimeter_width, writer.y() + dy);
|
|
m_left_to_right = !m_left_to_right;
|
|
}
|
|
|
|
// this is neither priming nor not the last toolchange on this layer - we are going back to the model - wipe the nozzle
|
|
if (m_layer_info != m_plan.end() && m_current_tool != m_layer_info->tool_changes.back().new_tool) {
|
|
m_left_to_right = !m_left_to_right;
|
|
writer.travel(writer.x(), writer.y() - dy)
|
|
.travel(m_left_to_right ? m_wipe_tower_width : 0.f, writer.y());
|
|
}
|
|
|
|
writer.set_extrusion_flow(m_extrusion_flow); // Reset the extrusion flow.
|
|
}
|
|
|
|
|
|
|
|
|
|
WipeTower::ToolChangeResult WipeTowerPrusaMM::finish_layer()
|
|
{
|
|
// This should only be called if the layer is not finished yet.
|
|
// Otherwise the caller would likely travel to the wipe tower in vain.
|
|
assert(! this->layer_finished());
|
|
|
|
PrusaMultiMaterial::Writer writer(m_layer_height, m_perimeter_width, m_gcode_flavor);
|
|
writer.set_extrusion_flow(m_extrusion_flow)
|
|
.set_z(m_z_pos)
|
|
.set_initial_tool(m_current_tool)
|
|
.set_y_shift(m_y_shift - (m_current_shape == SHAPE_REVERSED && !m_peters_wipe_tower ? m_layer_info->toolchanges_depth() : 0.f))
|
|
.append(";--------------------\n"
|
|
"; CP EMPTY GRID START\n")
|
|
.comment_with_value(" layer #", m_num_layer_changes + 1);
|
|
|
|
// Slow down on the 1st layer.
|
|
float speed_factor = m_is_first_layer ? 0.5f : 1.f;
|
|
float current_depth = m_layer_info->depth - m_layer_info->toolchanges_depth();
|
|
box_coordinates fill_box(xy(m_perimeter_width, m_depth_traversed + m_perimeter_width),
|
|
m_wipe_tower_width - 2 * m_perimeter_width, current_depth-m_perimeter_width);
|
|
|
|
|
|
writer.set_initial_position((m_left_to_right ? fill_box.ru : fill_box.lu), // so there is never a diagonal travel
|
|
m_wipe_tower_width, m_wipe_tower_depth, m_internal_rotation);
|
|
|
|
box_coordinates box = fill_box;
|
|
for (int i=0;i<2;++i) {
|
|
if (m_layer_info->toolchanges_depth() < WT_EPSILON) { // there were no toolchanges on this layer
|
|
if (i==0) box.expand(m_perimeter_width);
|
|
else box.expand(-m_perimeter_width);
|
|
}
|
|
else i=2; // only draw the inner perimeter, outer has been already drawn by tool_change(...)
|
|
writer.rectangle(box.ld,box.rd.x-box.ld.x,box.ru.y-box.rd.y,2900*speed_factor);
|
|
}
|
|
|
|
// we are in one of the corners, travel to ld along the perimeter:
|
|
if (writer.x() > fill_box.ld.x+EPSILON) writer.travel(fill_box.ld.x,writer.y());
|
|
if (writer.y() > fill_box.ld.y+EPSILON) writer.travel(writer.x(),fill_box.ld.y);
|
|
|
|
if (m_is_first_layer && m_adhesion) {
|
|
// Extrude a dense infill at the 1st layer to improve 1st layer adhesion of the wipe tower.
|
|
box.expand(-m_perimeter_width/2.f);
|
|
int nsteps = int(floor((box.lu.y - box.ld.y) / (2*m_perimeter_width)));
|
|
float step = (box.lu.y - box.ld.y) / nsteps;
|
|
writer.travel(box.ld-xy(m_perimeter_width/2.f,m_perimeter_width/2.f));
|
|
if (nsteps >= 0)
|
|
for (int i = 0; i < nsteps; ++i) {
|
|
writer.extrude(box.ld.x+m_perimeter_width/2.f, writer.y() + 0.5f * step);
|
|
writer.extrude(box.rd.x - m_perimeter_width / 2.f, writer.y());
|
|
writer.extrude(box.rd.x - m_perimeter_width / 2.f, writer.y() + 0.5f * step);
|
|
writer.extrude(box.ld.x + m_perimeter_width / 2.f, writer.y());
|
|
}
|
|
writer.travel(box.rd.x-m_perimeter_width/2.f,writer.y()); // wipe the nozzle
|
|
}
|
|
else { // Extrude a sparse infill to support the material to be printed above.
|
|
const float dy = (fill_box.lu.y - fill_box.ld.y - m_perimeter_width);
|
|
const float left = fill_box.lu.x+2*m_perimeter_width;
|
|
const float right = fill_box.ru.x - 2 * m_perimeter_width;
|
|
if (dy > m_perimeter_width)
|
|
{
|
|
// Extrude an inverse U at the left of the region.
|
|
writer.travel(fill_box.ld + xy(m_perimeter_width * 2, 0.f))
|
|
.extrude(fill_box.lu + xy(m_perimeter_width * 2, 0.f), 2900 * speed_factor);
|
|
|
|
const int n = 1+(right-left)/(m_bridging);
|
|
const float dx = (right-left)/n;
|
|
for (int i=1;i<=n;++i) {
|
|
float x=left+dx*i;
|
|
writer.travel(x,writer.y());
|
|
writer.extrude(x,i%2 ? fill_box.rd.y : fill_box.ru.y);
|
|
}
|
|
writer.travel(left,writer.y(),7200); // wipes the nozzle before moving away from the wipe tower
|
|
}
|
|
else
|
|
writer.travel(right,writer.y(),7200); // wipes the nozzle before moving away from the wipe tower
|
|
}
|
|
writer.append("; CP EMPTY GRID END\n"
|
|
";------------------\n\n\n\n\n\n\n");
|
|
|
|
m_depth_traversed = m_wipe_tower_depth-m_perimeter_width;
|
|
|
|
// Ask our writer about how much material was consumed:
|
|
if (m_current_tool < m_used_filament_length.size())
|
|
m_used_filament_length[m_current_tool] += writer.get_and_reset_used_filament_length();
|
|
|
|
ToolChangeResult result;
|
|
result.priming = false;
|
|
result.print_z = this->m_z_pos;
|
|
result.layer_height = this->m_layer_height;
|
|
result.gcode = writer.gcode();
|
|
result.elapsed_time = writer.elapsed_time();
|
|
result.extrusions = writer.extrusions();
|
|
result.start_pos = writer.start_pos_rotated();
|
|
result.end_pos = writer.pos_rotated();
|
|
return result;
|
|
}
|
|
|
|
// Appends a toolchange into m_plan and calculates neccessary depth of the corresponding box
|
|
void WipeTowerPrusaMM::plan_toolchange(float z_par, float layer_height_par, unsigned int old_tool, unsigned int new_tool, bool brim, float wipe_volume)
|
|
{
|
|
assert(m_plan.empty() || m_plan.back().z <= z_par + WT_EPSILON); // refuses to add a layer below the last one
|
|
|
|
if (m_plan.empty() || m_plan.back().z + WT_EPSILON < z_par) // if we moved to a new layer, we'll add it to m_plan first
|
|
m_plan.push_back(WipeTowerInfo(z_par, layer_height_par));
|
|
|
|
if (brim) { // this toolchange prints brim - we must add it to m_plan, but not to count its depth
|
|
m_plan.back().tool_changes.push_back(WipeTowerInfo::ToolChange(old_tool, new_tool));
|
|
return;
|
|
}
|
|
|
|
if (old_tool==new_tool) // new layer without toolchanges - we are done
|
|
return;
|
|
|
|
// this is an actual toolchange - let's calculate depth to reserve on the wipe tower
|
|
float depth = 0.f;
|
|
float width = m_wipe_tower_width - 3*m_perimeter_width;
|
|
float length_to_extrude = volume_to_length(0.25f * std::accumulate(m_filpar[old_tool].ramming_speed.begin(), m_filpar[old_tool].ramming_speed.end(), 0.f),
|
|
m_perimeter_width * m_filpar[old_tool].ramming_line_width_multiplicator,
|
|
layer_height_par);
|
|
depth = (int(length_to_extrude / width) + 1) * (m_perimeter_width * m_filpar[old_tool].ramming_line_width_multiplicator * m_filpar[old_tool].ramming_step_multiplicator);
|
|
float ramming_depth = depth;
|
|
length_to_extrude = width*((length_to_extrude / width)-int(length_to_extrude / width)) - width;
|
|
float first_wipe_line = -length_to_extrude;
|
|
length_to_extrude += volume_to_length(wipe_volume, m_perimeter_width, layer_height_par);
|
|
length_to_extrude = std::max(length_to_extrude,0.f);
|
|
|
|
depth += (int(length_to_extrude / width) + 1) * m_perimeter_width;
|
|
depth *= m_extra_spacing;
|
|
|
|
m_plan.back().tool_changes.push_back(WipeTowerInfo::ToolChange(old_tool, new_tool, depth, ramming_depth, first_wipe_line, wipe_volume));
|
|
}
|
|
|
|
|
|
|
|
void WipeTowerPrusaMM::plan_tower()
|
|
{
|
|
// Calculate m_wipe_tower_depth (maximum depth for all the layers) and propagate depths downwards
|
|
m_wipe_tower_depth = 0.f;
|
|
for (auto& layer : m_plan)
|
|
layer.depth = 0.f;
|
|
|
|
for (int layer_index = m_plan.size() - 1; layer_index >= 0; --layer_index)
|
|
{
|
|
float this_layer_depth = std::max(m_plan[layer_index].depth, m_plan[layer_index].toolchanges_depth());
|
|
m_plan[layer_index].depth = this_layer_depth;
|
|
|
|
if (this_layer_depth > m_wipe_tower_depth - m_perimeter_width)
|
|
m_wipe_tower_depth = this_layer_depth + m_perimeter_width;
|
|
|
|
for (int i = layer_index - 1; i >= 0 ; i--)
|
|
{
|
|
if (m_plan[i].depth - this_layer_depth < 2*m_perimeter_width )
|
|
m_plan[i].depth = this_layer_depth;
|
|
}
|
|
}
|
|
}
|
|
|
|
void WipeTowerPrusaMM::save_on_last_wipe()
|
|
{
|
|
for (m_layer_info=m_plan.begin();m_layer_info<m_plan.end();++m_layer_info) {
|
|
set_layer(m_layer_info->z, m_layer_info->height, 0, m_layer_info->z == m_plan.front().z, m_layer_info->z == m_plan.back().z);
|
|
if (m_layer_info->tool_changes.size()==0) // we have no way to save anything on an empty layer
|
|
continue;
|
|
|
|
for (const auto &toolchange : m_layer_info->tool_changes)
|
|
tool_change(toolchange.new_tool, false);
|
|
|
|
float width = m_wipe_tower_width - 3*m_perimeter_width; // width we draw into
|
|
float length_to_save = 2*(m_wipe_tower_width+m_wipe_tower_depth) + (!layer_finished() ? finish_layer().total_extrusion_length_in_plane() : 0.f);
|
|
float length_to_wipe = volume_to_length(m_layer_info->tool_changes.back().wipe_volume,
|
|
m_perimeter_width,m_layer_info->height) - m_layer_info->tool_changes.back().first_wipe_line - length_to_save;
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length_to_wipe = std::max(length_to_wipe,0.f);
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float depth_to_wipe = m_perimeter_width * (std::floor(length_to_wipe/width) + ( length_to_wipe > 0.f ? 1.f : 0.f ) ) * m_extra_spacing;
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//depth += (int(length_to_extrude / width) + 1) * m_perimeter_width;
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m_layer_info->tool_changes.back().required_depth = m_layer_info->tool_changes.back().ramming_depth + depth_to_wipe;
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}
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}
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// Processes vector m_plan and calls respective functions to generate G-code for the wipe tower
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// Resulting ToolChangeResults are appended into vector "result"
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void WipeTowerPrusaMM::generate(std::vector<std::vector<WipeTower::ToolChangeResult>> &result)
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{
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if (m_plan.empty())
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return;
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m_extra_spacing = 1.f;
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plan_tower();
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for (int i=0;i<5;++i) {
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save_on_last_wipe();
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plan_tower();
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}
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if (m_peters_wipe_tower)
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make_wipe_tower_square();
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m_layer_info = m_plan.begin();
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m_current_tool = (unsigned int)(-2); // we don't know which extruder to start with - we'll set it according to the first toolchange
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for (auto& used : m_used_filament_length) // reset used filament stats
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used = 0.f;
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std::vector<WipeTower::ToolChangeResult> layer_result;
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for (auto layer : m_plan)
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{
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set_layer(layer.z,layer.height,0,layer.z == m_plan.front().z,layer.z == m_plan.back().z);
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if (m_peters_wipe_tower)
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m_internal_rotation += 90.f;
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else
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m_internal_rotation += 180.f;
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|
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if (!m_peters_wipe_tower && m_layer_info->depth < m_wipe_tower_depth - m_perimeter_width)
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m_y_shift = (m_wipe_tower_depth-m_layer_info->depth-m_perimeter_width)/2.f;
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|
|
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for (const auto &toolchange : layer.tool_changes) {
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if (m_current_tool == (unsigned int)(-2))
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m_current_tool = toolchange.old_tool;
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layer_result.emplace_back(tool_change(toolchange.new_tool, false));
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}
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|
|
|
if (! layer_finished()) {
|
|
auto finish_layer_toolchange = finish_layer();
|
|
if ( ! layer.tool_changes.empty() ) { // we will merge it to the last toolchange
|
|
auto& last_toolchange = layer_result.back();
|
|
if (last_toolchange.end_pos != finish_layer_toolchange.start_pos) {
|
|
char buf[2048]; // Add a travel move from tc1.end_pos to tc2.start_pos.
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|
sprintf(buf, "G1 X%.3f Y%.3f F7200\n", finish_layer_toolchange.start_pos.x, finish_layer_toolchange.start_pos.y);
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last_toolchange.gcode += buf;
|
|
}
|
|
last_toolchange.gcode += finish_layer_toolchange.gcode;
|
|
last_toolchange.extrusions.insert(last_toolchange.extrusions.end(), finish_layer_toolchange.extrusions.begin(), finish_layer_toolchange.extrusions.end());
|
|
last_toolchange.end_pos = finish_layer_toolchange.end_pos;
|
|
}
|
|
else
|
|
layer_result.emplace_back(std::move(finish_layer_toolchange));
|
|
}
|
|
|
|
result.emplace_back(std::move(layer_result));
|
|
m_is_first_layer = false;
|
|
}
|
|
}
|
|
|
|
void WipeTowerPrusaMM::make_wipe_tower_square()
|
|
{
|
|
const float width = m_wipe_tower_width - 3 * m_perimeter_width;
|
|
const float depth = m_wipe_tower_depth - m_perimeter_width;
|
|
// area that we actually print into is width*depth
|
|
float side = sqrt(depth * width);
|
|
|
|
m_wipe_tower_width = side + 3 * m_perimeter_width;
|
|
m_wipe_tower_depth = side + 2 * m_perimeter_width;
|
|
// For all layers, find how depth changed and update all toolchange depths
|
|
for (auto &lay : m_plan)
|
|
{
|
|
side = sqrt(lay.depth * width);
|
|
float width_ratio = width / side;
|
|
|
|
//lay.extra_spacing = width_ratio;
|
|
for (auto &tch : lay.tool_changes)
|
|
tch.required_depth *= width_ratio;
|
|
}
|
|
|
|
plan_tower(); // propagates depth downwards again (width has changed)
|
|
for (auto& lay : m_plan) // depths set, now the spacing
|
|
lay.extra_spacing = lay.depth / lay.toolchanges_depth();
|
|
}
|
|
|
|
}; // namespace Slic3r
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