Scott Lahteine
7 years ago
12 changed files with 362 additions and 242 deletions
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/**
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* Marlin 3D Printer Firmware |
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* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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* |
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* Based on Sprinter and grbl. |
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* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
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* |
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* This program is free software: you can redistribute it and/or modify |
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* it under the terms of the GNU General Public License as published by |
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* the Free Software Foundation, either version 3 of the License, or |
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* (at your option) any later version. |
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* |
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* This program is distributed in the hope that it will be useful, |
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* but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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* GNU General Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License |
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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* |
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*/ |
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/**
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* fwretract.cpp - Implement firmware-based retraction |
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*/ |
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#include "../inc/MarlinConfig.h" |
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#if ENABLED(FWRETRACT) |
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#include "fwretract.h" |
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FWRetract fwretract; // Single instance
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#include "../module/motion.h" |
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bool FWRetract::autoretract_enabled, // M209 S - Autoretract switch
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FWRetract::retracted[EXTRUDERS] = { false }; // Which extruders are currently retracted
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float FWRetract::retract_length, // M207 S - G10 Retract length
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FWRetract::retract_feedrate_mm_s, // M207 F - G10 Retract feedrate
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FWRetract::retract_zlift, // M207 Z - G10 Retract hop size
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FWRetract::retract_recover_length, // M208 S - G11 Recover length
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FWRetract::retract_recover_feedrate_mm_s, // M208 F - G11 Recover feedrate
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FWRetract::swap_retract_length, // M207 W - G10 Swap Retract length
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FWRetract::swap_retract_recover_length, // M208 W - G11 Swap Recover length
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FWRetract::swap_retract_recover_feedrate_mm_s; // M208 R - G11 Swap Recover feedrate
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#if EXTRUDERS > 1 |
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bool FWRetract::retracted_swap[EXTRUDERS] = { false }; // Which extruders are swap-retracted
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#endif |
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void FWRetract::reset() { |
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autoretract_enabled = false; |
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retract_length = RETRACT_LENGTH; |
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retract_feedrate_mm_s = RETRACT_FEEDRATE; |
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retract_zlift = RETRACT_ZLIFT; |
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retract_recover_length = RETRACT_RECOVER_LENGTH; |
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retract_recover_feedrate_mm_s = RETRACT_RECOVER_FEEDRATE; |
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swap_retract_length = RETRACT_LENGTH_SWAP; |
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swap_retract_recover_length = RETRACT_RECOVER_LENGTH_SWAP; |
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swap_retract_recover_feedrate_mm_s = RETRACT_RECOVER_FEEDRATE_SWAP; |
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} |
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/**
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* Retract or recover according to firmware settings |
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* |
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* This function handles retract/recover moves for G10 and G11, |
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* plus auto-retract moves sent from G0/G1 when E-only moves are done. |
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* |
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* To simplify the logic, doubled retract/recover moves are ignored. |
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* |
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* Note: Z lift is done transparently to the planner. Aborting |
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* a print between G10 and G11 may corrupt the Z position. |
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* |
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* Note: Auto-retract will apply the set Z hop in addition to any Z hop |
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* included in the G-code. Use M207 Z0 to to prevent double hop. |
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*/ |
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void FWRetract::retract(const bool retracting |
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#if EXTRUDERS > 1 |
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, bool swapping /* =false */ |
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#endif |
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) { |
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static float hop_height, // Remember where the Z height started
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hop_amount = 0.0; // Total amount lifted, for use in recover
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// Simply never allow two retracts or recovers in a row
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if (retracted[active_extruder] == retracting) return; |
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#if EXTRUDERS < 2 |
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bool swapping = false; |
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#endif |
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if (!retracting) swapping = retracted_swap[active_extruder]; |
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/* // debugging
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SERIAL_ECHOLNPAIR("retracting ", retracting); |
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SERIAL_ECHOLNPAIR("swapping ", swapping); |
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SERIAL_ECHOLNPAIR("active extruder ", active_extruder); |
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for (uint8_t i = 0; i < EXTRUDERS; ++i) { |
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SERIAL_ECHOPAIR("retracted[", i); |
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SERIAL_ECHOLNPAIR("] ", retracted[i]); |
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SERIAL_ECHOPAIR("retracted_swap[", i); |
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SERIAL_ECHOLNPAIR("] ", retracted_swap[i]); |
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} |
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SERIAL_ECHOLNPAIR("current_position[z] ", current_position[Z_AXIS]); |
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SERIAL_ECHOLNPAIR("hop_amount ", hop_amount); |
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//*/
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const bool has_zhop = retract_zlift > 0.01; // Is there a hop set?
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const float old_feedrate_mm_s = feedrate_mm_s; |
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const int16_t old_flow = flow_percentage[active_extruder]; |
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// Don't apply flow multiplication to retract/recover
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flow_percentage[active_extruder] = 100; |
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// The current position will be the destination for E and Z moves
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set_destination_to_current(); |
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if (retracting) { |
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// Remember the Z height since G-code may include its own Z-hop
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// For best results turn off Z hop if G-code already includes it
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hop_height = destination[Z_AXIS]; |
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// Retract by moving from a faux E position back to the current E position
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feedrate_mm_s = retract_feedrate_mm_s; |
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current_position[E_AXIS] += (swapping ? swap_retract_length : retract_length) / volumetric_multiplier[active_extruder]; |
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sync_plan_position_e(); |
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prepare_move_to_destination(); |
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// Is a Z hop set, and has the hop not yet been done?
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if (has_zhop) { |
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hop_amount += retract_zlift; // Carriage is raised for retraction hop
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current_position[Z_AXIS] -= retract_zlift; // Pretend current pos is lower. Next move raises Z.
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SYNC_PLAN_POSITION_KINEMATIC(); // Set the planner to the new position
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prepare_move_to_destination(); // Raise up to the old current pos
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} |
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} |
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else { |
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// If a hop was done and Z hasn't changed, undo the Z hop
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if (hop_amount && NEAR(hop_height, destination[Z_AXIS])) { |
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current_position[Z_AXIS] += hop_amount; // Pretend current pos is higher. Next move lowers Z.
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SYNC_PLAN_POSITION_KINEMATIC(); // Set the planner to the new position
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prepare_move_to_destination(); // Lower to the old current pos
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hop_amount = 0.0; |
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} |
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// A retract multiplier has been added here to get faster swap recovery
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feedrate_mm_s = swapping ? swap_retract_recover_feedrate_mm_s : retract_recover_feedrate_mm_s; |
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const float move_e = swapping ? swap_retract_length + swap_retract_recover_length : retract_length + retract_recover_length; |
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current_position[E_AXIS] -= move_e / volumetric_multiplier[active_extruder]; |
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sync_plan_position_e(); |
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prepare_move_to_destination(); // Recover E
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} |
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// Restore flow and feedrate
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flow_percentage[active_extruder] = old_flow; |
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feedrate_mm_s = old_feedrate_mm_s; |
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// The active extruder is now retracted or recovered
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retracted[active_extruder] = retracting; |
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// If swap retract/recover then update the retracted_swap flag too
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#if EXTRUDERS > 1 |
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if (swapping) retracted_swap[active_extruder] = retracting; |
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#endif |
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/* // debugging
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SERIAL_ECHOLNPAIR("retracting ", retracting); |
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SERIAL_ECHOLNPAIR("swapping ", swapping); |
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SERIAL_ECHOLNPAIR("active_extruder ", active_extruder); |
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for (uint8_t i = 0; i < EXTRUDERS; ++i) { |
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SERIAL_ECHOPAIR("retracted[", i); |
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SERIAL_ECHOLNPAIR("] ", retracted[i]); |
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SERIAL_ECHOPAIR("retracted_swap[", i); |
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SERIAL_ECHOLNPAIR("] ", retracted_swap[i]); |
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} |
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SERIAL_ECHOLNPAIR("current_position[z] ", current_position[Z_AXIS]); |
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SERIAL_ECHOLNPAIR("hop_amount ", hop_amount); |
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//*/
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} // retract()
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#endif // FWRETRACT
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@ -0,0 +1,65 @@ |
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/**
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* Marlin 3D Printer Firmware |
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* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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* |
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* Based on Sprinter and grbl. |
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* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
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* |
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* This program is free software: you can redistribute it and/or modify |
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* it under the terms of the GNU General Public License as published by |
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* the Free Software Foundation, either version 3 of the License, or |
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* (at your option) any later version. |
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* |
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* This program is distributed in the hope that it will be useful, |
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* but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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* GNU General Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License |
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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* |
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*/ |
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/**
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* fwretract.h - Define firmware-based retraction interface |
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*/ |
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#ifndef FWRETRACT_H |
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#define FWRETRACT_H |
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#include "../inc/MarlinConfig.h" |
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class FWRetract { |
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public: |
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static bool autoretract_enabled, // M209 S - Autoretract switch
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retracted[EXTRUDERS]; // Which extruders are currently retracted
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static float retract_length, // M207 S - G10 Retract length
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retract_feedrate_mm_s, // M207 F - G10 Retract feedrate
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retract_zlift, // M207 Z - G10 Retract hop size
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retract_recover_length, // M208 S - G11 Recover length
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retract_recover_feedrate_mm_s, // M208 F - G11 Recover feedrate
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swap_retract_length, // M207 W - G10 Swap Retract length
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swap_retract_recover_length, // M208 W - G11 Swap Recover length
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swap_retract_recover_feedrate_mm_s; // M208 R - G11 Swap Recover feedrate
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#if EXTRUDERS > 1 |
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static bool retracted_swap[EXTRUDERS]; // Which extruders are swap-retracted
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#else |
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static bool constexpr retracted_swap[1] = { false }; |
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#endif |
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FWRetract() {} |
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static void reset(); |
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static void retract(const bool retracting |
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#if EXTRUDERS > 1 |
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, bool swapping = false |
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#endif |
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); |
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}; |
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extern FWRetract fwretract; |
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#endif // FWRETRACT_H
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