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Merge pull request #10257 from thinkyhead/bf2_tool_change_debug

pull/1/head
Scott Lahteine 6 years ago
committed by GitHub
parent
4c79dc1093 2672120a97
commit
241996d5d6
No known key found for this signature in database GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 260 additions and 335 deletions
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  1. 24
      Marlin/src/feature/bedlevel/bedlevel.cpp
  2. 4
      Marlin/src/gcode/calibrate/G28.cpp
  3. 567
      Marlin/src/module/tool_change.cpp

24
Marlin/src/feature/bedlevel/bedlevel.cpp
View File

@ -138,30 +138,16 @@ void set_bed_leveling_enabled(const bool enable/*=true*/) {
void set_z_fade_height(const float zfh, const bool do_report/*=true*/) {
if (planner.z_fade_height == zfh) return; // do nothing if no change
if (planner.z_fade_height == zfh) return;
const bool level_active = planner.leveling_active;
#if ENABLED(AUTO_BED_LEVELING_UBL)
if (level_active) set_bed_leveling_enabled(false); // turn off before changing fade height for proper apply/unapply leveling to maintain current_position
#endif
const bool leveling_was_active = planner.leveling_active;
set_bed_leveling_enabled(false);
planner.set_z_fade_height(zfh);
if (level_active) {
if (leveling_was_active) {
const float oldpos[] = { current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] };
#if ENABLED(AUTO_BED_LEVELING_UBL)
set_bed_leveling_enabled(true); // turn back on after changing fade height
#else
set_current_from_steppers_for_axis(
#if ABL_PLANAR
ALL_AXES
#else
Z_AXIS
#endif
);
SYNC_PLAN_POSITION_KINEMATIC();
#endif
set_bed_leveling_enabled(true);
if (do_report && memcmp(oldpos, current_position, sizeof(oldpos)))
report_current_position();
}

4
Marlin/src/gcode/calibrate/G28.cpp
View File

@ -179,7 +179,7 @@ void GcodeSuite::G28(const bool always_home_all) {
// Disable the leveling matrix before homing
#if HAS_LEVELING
#if ENABLED(RESTORE_LEVELING_AFTER_G28)
const bool leveling_state_at_entry = planner.leveling_active;
const bool leveling_was_active = planner.leveling_active;
#endif
set_bed_leveling_enabled(false);
#endif
@ -326,7 +326,7 @@ void GcodeSuite::G28(const bool always_home_all) {
#endif
#if ENABLED(RESTORE_LEVELING_AFTER_G28)
set_bed_leveling_enabled(leveling_state_at_entry);
set_bed_leveling_enabled(leveling_was_active);
#endif
clean_up_after_endstop_or_probe_move();

567
Marlin/src/module/tool_change.cpp
View File

@ -115,8 +115,112 @@
#endif
}
#endif // PARKING_EXTRUDER
inline void parking_extruder_tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool no_move/*=false*/) {
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] += PARKING_EXTRUDER_SECURITY_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
inline void invalid_extruder_error(const uint8_t e) {
SERIAL_ECHO_START();
@ -126,19 +230,134 @@ inline void invalid_extruder_error(const uint8_t e) {
SERIAL_ECHOLNPGM(MSG_INVALID_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
#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
#define DO_SWITCH_EXTRUDER (SWITCHING_EXTRUDER_SERVO_NR != SWITCHING_NOZZLE_SERVO_NR)
/**
* 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
@ -162,331 +381,53 @@ 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();
#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 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(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOLNPAIR("Active extruder parked: ", active_extruder_parked ? "yes" : "no");
DEBUG_POS("New extruder (parked)", current_position);
}
#endif
#if ENABLED(DUAL_X_CARRIAGE)
// 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) // Dual Parking extruder
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][tmp_extruder] - hotend_offset[Z_AXIS][active_extruder]; // 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)
#define DONT_SWITCH (SWITCHING_EXTRUDER_SERVO_NR == SWITCHING_NOZZLE_SERVO_NR)
// <0 if the new nozzle is higher, >0 if lower. A bigger raise when lower.
const float z_diff = hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder],
z_raise = 0.3 + (z_diff > 0.0 ? z_diff : 0.0);
// Always raise by some amount
current_position[Z_AXIS] += z_raise;
// 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
/**
* Set current_position to the position of the new nozzle.
* Offsets are based on linear distance, so we need to get
* the resulting position in coordinate space.
*
* - With grid or 3-point leveling, offset XYZ by a tilted vector
* - With mesh leveling, update Z for the new position
* - Otherwise, just use the raw linear distance
*
* Software endstops are altered here too. Consider a case where:
* E0 at X=0 ... E1 at X=10
* When we switch to E1 now X=10, but E1 can't move left.
* To express this we apply the change in XY to the software endstops.
* E1 can move farther right than E0, so the right limit is extended.
*
* Note that we don't adjust the Z software endstops. Why not?
* Consider a case where Z=0 (here) and switching to E1 makes Z=1
* because the bed is 1mm lower at the new position. As long as
* the first nozzle is out of the way, the carriage should be
* allowed to move 1mm lower. This technically "breaks" the
* Z software endstop. But this is technically correct (and
* there is no viable alternative).
*/
#if ABL_PLANAR
// Offset extruder, make sure to apply the bed level rotation matrix
vector_3 tmp_offset_vec = vector_3(hotend_offset[X_AXIS][tmp_extruder],
hotend_offset[Y_AXIS][tmp_extruder],
0),
act_offset_vec = vector_3(hotend_offset[X_AXIS][active_extruder],
hotend_offset[Y_AXIS][active_extruder],
0),
offset_vec = tmp_offset_vec - act_offset_vec;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
tmp_offset_vec.debug(PSTR("tmp_offset_vec"));
act_offset_vec.debug(PSTR("act_offset_vec"));
offset_vec.debug(PSTR("offset_vec (BEFORE)"));
}
#endif
offset_vec.apply_rotation(planner.bed_level_matrix.transpose(planner.bed_level_matrix));
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) offset_vec.debug(PSTR("offset_vec (AFTER)"));
#endif
// Adjustments to the current position
const float xydiff[2] = { offset_vec.x, offset_vec.y };
current_position[Z_AXIS] += offset_vec.z;
#else // !ABL_PLANAR
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_MESH && PLANNER_LEVELING
if (planner.leveling_active) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOPAIR("Z before: ", current_position[Z_AXIS]);
#endif
float x2 = current_position[X_AXIS] + xydiff[X_AXIS],
y2 = current_position[Y_AXIS] + xydiff[Y_AXIS],
z1 = current_position[Z_AXIS], z2 = z1;
planner.apply_leveling(current_position[X_AXIS], current_position[Y_AXIS], z1);
planner.apply_leveling(x2, y2, z2);
current_position[Z_AXIS] += z2 - z1;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING))
SERIAL_ECHOLNPAIR(" after: ", current_position[Z_AXIS]);
#endif
}
#endif // HAS_MESH && PLANNER_LEVELING
#endif // !HAS_ABL
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
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("Sync After Toolchange", current_position);
#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"
@ -494,22 +435,20 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
#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 (safe_to_move && !no_move && IsRunning()) {
++current_position[Z_AXIS];
planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
}
#else
constexpr bool safe_to_move = true;
#endif
// Move to the "old position" (move the extruder into place)
#if ENABLED(SWITCHING_NOZZLE)
destination[Z_AXIS] += z_diff; // Include the Z restore with the "move back"
#endif
// 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
@ -529,7 +468,7 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
#if ENABLED(EXT_SOLENOID) && !ENABLED(PARKING_EXTRUDER)
disable_all_solenoids();
enable_solenoid_on_active_extruder();
#endif // EXT_SOLENOID
#endif
feedrate_mm_s = old_feedrate_mm_s;
@ -550,7 +489,7 @@ 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

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