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@ -487,6 +487,133 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { |
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#endif // SWITCHING_TOOLHEAD
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#if ENABLED(MAGNETIC_SWITCHING_TOOLHEAD) |
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inline void magnetic_switching_toolhead_tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool no_move/*=false*/) { |
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if (no_move) return; |
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const float toolheadposx[] = SWITCHING_TOOLHEAD_X_POS, |
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placexpos = toolheadposx[active_extruder], |
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grabxpos = toolheadposx[tmp_extruder]; |
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/**
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* 1. Raise Z to give enough clearance |
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* 2. Move to switch position of current toolhead |
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* 3. Release and place toolhead in the dock |
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* 4. Move to the new toolhead |
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* 5. Grab the new toolhead and move to security position |
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*/ |
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if (DEBUGGING(LEVELING)) DEBUG_POS("Starting Toolhead change", current_position); |
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// 1. Raise Z to give enough clearance
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current_position[Z_AXIS] += toolchange_settings.z_raise; |
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if (DEBUGGING(LEVELING)) DEBUG_POS("(1) Raise Z-Axis", current_position); |
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planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[Z_AXIS], active_extruder); |
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planner.synchronize(); |
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// 2. Move to switch position current toolhead
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current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_CLEAR; |
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if (DEBUGGING(LEVELING)) { |
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SERIAL_ECHOLNPAIR("(2) Place old tool ", int(active_extruder)); |
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DEBUG_POS("Move Y SwitchPos + Security", current_position); |
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} |
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planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[Y_AXIS], active_extruder); |
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planner.synchronize(); |
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current_position[X_AXIS] = placexpos + SWITCHING_TOOLHEAD_X_SECURITY; |
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if (DEBUGGING(LEVELING)) DEBUG_POS("Move X SwitchPos + Security", current_position); |
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planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[X_AXIS], active_extruder); |
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planner.synchronize(); |
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current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS; |
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if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos", current_position); |
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planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[Y_AXIS], active_extruder); |
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planner.synchronize(); |
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current_position[X_AXIS] = placexpos; |
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if (DEBUGGING(LEVELING)) DEBUG_POS("Move X SwitchPos", current_position); |
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planner.buffer_line(current_position, (planner.settings.max_feedrate_mm_s[X_AXIS] * 0.25), active_extruder); |
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planner.synchronize(); |
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// 3. Release and place toolhead in the dock
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("(3) Release and Place Toolhead"); |
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current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_RELEASE; |
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if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos + Release", current_position); |
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planner.buffer_line(current_position, (planner.settings.max_feedrate_mm_s[Y_AXIS] * 0.1), active_extruder); |
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planner.synchronize(); |
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current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_SECURITY; |
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if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos + Security", current_position); |
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planner.buffer_line(current_position, (planner.settings.max_feedrate_mm_s[Y_AXIS]), active_extruder); |
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planner.synchronize(); |
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// 4. Move to new toolhead position
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("(4) Move to new toolhead position"); |
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current_position[X_AXIS] = grabxpos; |
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if (DEBUGGING(LEVELING)) DEBUG_POS("Move to new toolhead X", current_position); |
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planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[X_AXIS], active_extruder); |
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planner.synchronize(); |
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// 5. Grab the new toolhead and move to security position
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("(5) Grab new toolhead and move to security position"); |
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current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_RELEASE; |
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if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos + Release", current_position); |
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planner.buffer_line(current_position, (planner.settings.max_feedrate_mm_s[Y_AXIS]), active_extruder); |
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planner.synchronize(); |
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current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS; |
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if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos", current_position); |
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planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[Y_AXIS] * 0.2, active_extruder); |
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planner.synchronize(); |
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safe_delay(100); |
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current_position[X_AXIS] = grabxpos + SWITCHING_TOOLHEAD_X_SECURITY; |
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if (DEBUGGING(LEVELING)) DEBUG_POS("Move to new toolhead X + Security", current_position); |
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planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[X_AXIS] * 0.1, active_extruder); |
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planner.synchronize(); |
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safe_delay(100); |
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current_position[Y_AXIS] += SWITCHING_TOOLHEAD_Y_CLEAR; |
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if (DEBUGGING(LEVELING)) DEBUG_POS("Move back Y clear", current_position); |
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planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[Y_AXIS], active_extruder); // move away from docked toolhead
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planner.synchronize(); |
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} |
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#endif // MAGNETIC_SWITCHING_TOOLHEAD
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inline void invalid_extruder_error(const uint8_t e) { |
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SERIAL_ECHO_START(); |
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SERIAL_CHAR('T'); SERIAL_ECHO(int(e)); |
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@ -557,6 +684,11 @@ inline void invalid_extruder_error(const uint8_t e) { |
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* previous tool out of the way and the new tool into place. |
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*/ |
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void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool no_move/*=false*/) { |
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#if ENABLED(MAGNETIC_SWITCHING_TOOLHEAD) |
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if (tmp_extruder == active_extruder) return; |
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#endif |
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#if ENABLED(MIXING_EXTRUDER) |
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UNUSED(fr_mm_s); UNUSED(no_move); |
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@ -686,6 +818,8 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n |
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magnetic_parking_extruder_tool_change(tmp_extruder); |
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#elif ENABLED(SWITCHING_TOOLHEAD) // Switching Toolhead
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switching_toolhead_tool_change(tmp_extruder, fr_mm_s, no_move); |
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#elif ENABLED(MAGNETIC_SWITCHING_TOOLHEAD) // Magnetic Switching Toolhead
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magnetic_switching_toolhead_tool_change(tmp_extruder, fr_mm_s, no_move); |
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#elif ENABLED(SWITCHING_NOZZLE) && !SWITCHING_NOZZLE_TWO_SERVOS |
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// Raise by a configured distance to avoid workpiece, except with
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// SWITCHING_NOZZLE_TWO_SERVOS, as both nozzles will lift instead.
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@ -755,7 +889,16 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n |
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#endif |
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// Prevent a move outside physical bounds
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apply_motion_limits(destination); |
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#if ENABLED(MAGNETIC_SWITCHING_TOOLHEAD) |
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// If the original position is within tool store area, go to X origin at once
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if (destination[Y_AXIS] < SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_CLEAR) { |
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current_position[X_AXIS] = 0; |
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planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[X_AXIS], active_extruder); |
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planner.synchronize(); |
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} |
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#else |
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apply_motion_limits(destination); |
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#endif |
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// Move back to the original (or tweaked) position
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do_blocking_move_to(destination); |
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