andrey
/
Marlin_FB4S
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

Apply some tool-change cleanup

pull/1/head
Scott Lahteine 6 years ago
parent
34ea458667
commit
5a470d4a49
1 changed files with 71 additions and 9 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 80
      Marlin/src/module/tool_change.cpp

80
Marlin/src/module/tool_change.cpp
View File

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

Write Preview
Loading…
Cancel
Save