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@ -135,10 +135,10 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { |
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#if ENABLED(MAGNETIC_PARKING_EXTRUDER) |
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float parkingposx[2] , // M951 R L
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parkinggrabdistance , // M951 I
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float parkingposx[2], // M951 R L
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parkinggrabdistance, // M951 I
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parkingslowspeed, // M951 J
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parkinghighspeed , // M951 H
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parkinghighspeed, // M951 H
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parkingtraveldistance, // M951 D
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compensationmultiplier; |
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@ -290,52 +290,50 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { |
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// STEP 1
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if (DEBUGGING(LEVELING)) DEBUG_POS("Start Autopark", current_position); |
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if (DEBUGGING(LEVELING)) DEBUG_POS("Start PE Tool-Change", current_position); |
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current_position[X_AXIS] = parkingposx[active_extruder] + x_offset; |
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if (DEBUGGING(LEVELING)) { |
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DEBUG_ECHOLNPAIR("(1) Park extruder ", int(active_extruder)); |
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DEBUG_POS("Moving ParkPos", current_position); |
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} |
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fast_line_to_current(X_AXIS); |
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planner.synchronize(); |
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// STEP 2
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(2) Disengage magnet "); |
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planner.synchronize(); |
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(2) Disengage magnet"); |
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pe_deactivate_solenoid(active_extruder); |
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// STEP 3
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(3) Move near new extruder"); |
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current_position[X_AXIS] += active_extruder ? -10 : 10; // move 10mm away from parked extruder
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if (DEBUGGING(LEVELING)) DEBUG_POS("Move away from parked extruder", current_position); |
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if (DEBUGGING(LEVELING)) { |
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DEBUG_ECHOLNPGM("(3) Move near new extruder"); |
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DEBUG_POS("Move away from parked extruder", current_position); |
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} |
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fast_line_to_current(X_AXIS); |
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planner.synchronize(); |
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// STEP 4
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(4) Engage magnetic field"); |
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planner.synchronize(); |
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(4) Engage magnetic field"); |
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#if ENABLED(PARKING_EXTRUDER_SOLENOIDS_INVERT) |
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pe_activate_solenoid(active_extruder); //just save power for inverted magnets
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pe_activate_solenoid(active_extruder); // Just save power for inverted magnets
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#endif |
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pe_activate_solenoid(tmp_extruder); |
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// STEP 5
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current_position[X_AXIS] = grabpos + (tmp_extruder ? -10 : 10); |
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fast_line_to_current(X_AXIS); |
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current_position[X_AXIS] = grabpos; |
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if (DEBUGGING(LEVELING)) DEBUG_POS("(5) Unpark extruder", current_position); |
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planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[X_AXIS] * 0.5, active_extruder); |
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if (DEBUGGING(LEVELING)) { |
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planner.synchronize(); |
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DEBUG_POS("(5) Unpark extruder", current_position); |
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} |
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planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[X_AXIS] * 0.5, active_extruder); |
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// STEP 6
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@ -344,13 +342,14 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { |
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- hotend_offset[X_AXIS][tmp_extruder] |
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#endif |
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; |
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if (DEBUGGING(LEVELING)) DEBUG_POS("(6) Move midway between hotends", current_position); |
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fast_line_to_current(X_AXIS); |
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if (DEBUGGING(LEVELING)) { |
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planner.synchronize(); |
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DEBUG_POS("(6) Move midway between hotends", current_position); |
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} |
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fast_line_to_current(X_AXIS); |
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planner.synchronize(); // Always sync the final move
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DEBUG_ECHOLNPGM("Autopark done."); |
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DEBUG_ECHOLNPGM("PE Tool-Change done."); |
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} |
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else { // nomove == true
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// Only engage magnetic field for new extruder
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@ -383,86 +382,80 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { |
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// 1. Move to switch position of current toolhead
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if (DEBUGGING(LEVELING)) DEBUG_POS("Starting Toolhead change", current_position); |
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if (DEBUGGING(LEVELING)) DEBUG_POS("Start ST Tool-Change", current_position); |
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current_position[X_AXIS] = placexpos; |
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if (DEBUGGING(LEVELING)) { |
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DEBUG_ECHOLNPAIR("(1) Place old tool ", int(active_extruder)); |
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DEBUG_POS("Move X SwitchPos", current_position); |
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} |
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fast_line_to_current(X_AXIS); |
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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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fast_line_to_current(Y_AXIS); |
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current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS - (SWITCHING_TOOLHEAD_Y_SECURITY); |
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if (DEBUGGING(LEVELING)) { |
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planner.synchronize(); |
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DEBUG_POS("Move Y SwitchPos + Security", current_position); |
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} |
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fast_line_to_current(Y_AXIS); |
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// 2. Unlock tool and drop it in the dock
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planner.synchronize(); |
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(2) Unlock and Place Toolhead"); |
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MOVE_SERVO(SWITCHING_TOOLHEAD_SERVO_NR, angles[1]); |
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safe_delay(500); |
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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] * 0.5f, active_extruder); |
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planner.buffer_line(current_position,(planner.settings.max_feedrate_mm_s[Y_AXIS] * 0.5), active_extruder); |
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// Wait for move to complete, then another 0.2s
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planner.synchronize(); |
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safe_delay(200); |
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current_position[Y_AXIS] -= SWITCHING_TOOLHEAD_Y_CLEAR; |
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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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fast_line_to_current(Y_AXIS); // move away from docked toolhead
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planner.synchronize(); |
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// 3. Move to the new toolhead
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(3) 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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fast_line_to_current(X_AXIS); |
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if (DEBUGGING(LEVELING)) { |
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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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DEBUG_ECHOLNPGM("(3) Move to new toolhead position"); |
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DEBUG_POS("Move to new toolhead X", current_position); |
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} |
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fast_line_to_current(X_AXIS); |
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fast_line_to_current(Y_AXIS); |
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current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS - (SWITCHING_TOOLHEAD_Y_SECURITY); |
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if (DEBUGGING(LEVELING)) { |
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planner.synchronize(); |
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DEBUG_POS("Move Y SwitchPos + Security", current_position); |
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} |
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fast_line_to_current(Y_AXIS); |
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// 4. Grab and lock the new toolhead
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(4) Grab and lock new toolhead "); |
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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] * 0.5, active_extruder); |
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if (DEBUGGING(LEVELING)) { |
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planner.synchronize(); |
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DEBUG_ECHOLNPGM("(4) Grab and lock new toolhead"); |
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DEBUG_POS("Move Y SwitchPos", current_position); |
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} |
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planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[Y_AXIS] * 0.5, active_extruder); |
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// Wait for move to finish, pause 0.2s, move servo, pause 0.5s
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planner.synchronize(); |
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safe_delay(200); |
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MOVE_SERVO(SWITCHING_TOOLHEAD_SERVO_NR, angles[0]); |
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safe_delay(500); |
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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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fast_line_to_current(Y_AXIS); // Move away from docked toolhead
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planner.synchronize(); // Always sync the final move
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fast_line_to_current(Y_AXIS); // move away from docked toolhead
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planner.synchronize(); |
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Toolhead change done."); |
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("ST Tool-Change done."); |
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} |
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#elif ENABLED(MAGNETIC_SWITCHING_TOOLHEAD) |
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