From 5acccbacc14521dda4ca6af875f6fa71a0600dda Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Thu, 29 Mar 2018 18:29:52 -0500 Subject: [PATCH] Simplified leveling-based tool change --- Marlin/src/module/tool_change.cpp | 128 ++++++------------------------ 1 file changed, 24 insertions(+), 104 deletions(-) diff --git a/Marlin/src/module/tool_change.cpp b/Marlin/src/module/tool_change.cpp index 4913f8ed15..6e3938735c 100644 --- a/Marlin/src/module/tool_change.cpp +++ b/Marlin/src/module/tool_change.cpp @@ -116,8 +116,6 @@ } inline void parking_extruder_tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool no_move/*=false*/) { - constexpr float z_raise = PARKING_EXTRUDER_SECURITY_RAISE; - if (!no_move) { const float parkingposx[] = PARKING_EXTRUDER_PARKING_X, @@ -140,7 +138,7 @@ SERIAL_ECHOLNPGM("Starting Autopark"); if (DEBUGGING(LEVELING)) DEBUG_POS("current position:", current_position); #endif - current_position[Z_AXIS] += z_raise; + 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); @@ -350,6 +348,8 @@ inline void invalid_extruder_error(const uint8_t e) { #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. @@ -381,127 +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 HAS_LEVELING + // Set current position to the physical position + const bool leveling_was_active = planner.leveling_active; + set_bed_leveling_enabled(false); + #endif + #if ENABLED(DUAL_X_CARRIAGE) dualx_tool_change(tmp_extruder, no_move); // Can modify no_move #else // !DUAL_X_CARRIAGE - #if ENABLED(PARKING_EXTRUDER) + #if ENABLED(PARKING_EXTRUDER) // Dual Parking 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" @@ -509,17 +435,11 @@ 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 @@ -544,7 +464,7 @@ 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; @@ -565,7 +485,7 @@ 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