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Tool-change debug option

vanilla_fb_2.0.x
Scott Lahteine 5 years ago
committed by Scott Lahteine
parent
3513ea7ae1
commit
b40440cf38
5 changed files with 145 additions and 161 deletions
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  1. 3
      Marlin/src/core/debug_out.h
  2. 4
      Marlin/src/gcode/control/M605.cpp
  3. 2
      Marlin/src/module/motion.cpp
  4. 2
      Marlin/src/module/motion.h
  5. 295
      Marlin/src/module/tool_change.cpp

3
Marlin/src/core/debug_out.h
View File

@ -52,6 +52,7 @@
#undef DEBUG_POS #undef DEBUG_POS
#undef DEBUG_XYZ #undef DEBUG_XYZ
#undef DEBUG_DELAY #undef DEBUG_DELAY
#undef DEBUG_SYNCHRONIZE
#if DEBUG_OUT #if DEBUG_OUT
@ -83,6 +84,7 @@
#define DEBUG_POS SERIAL_POS #define DEBUG_POS SERIAL_POS
#define DEBUG_XYZ SERIAL_XYZ #define DEBUG_XYZ SERIAL_XYZ
#define DEBUG_DELAY(ms) serial_delay(ms) #define DEBUG_DELAY(ms) serial_delay(ms)
#define DEBUG_SYNCHRONIZE() planner.synchronize()
#else #else
@ -112,6 +114,7 @@
#define DEBUG_POS(...) NOOP #define DEBUG_POS(...) NOOP
#define DEBUG_XYZ(...) NOOP #define DEBUG_XYZ(...) NOOP
#define DEBUG_DELAY(...) NOOP #define DEBUG_DELAY(...) NOOP
#define DEBUG_SYNCHRONIZE() NOOP
#endif #endif

4
Marlin/src/gcode/control/M605.cpp
View File

@ -92,8 +92,10 @@
case DXC_AUTO_PARK_MODE: case DXC_AUTO_PARK_MODE:
break; break;
case DXC_DUPLICATION_MODE: case DXC_DUPLICATION_MODE:
if (parser.seen('X')) duplicate_extruder_x_offset = _MAX(parser.value_linear_units(), X2_MIN_POS - x_home_pos(0)); // Set the X offset, but no less than the safety gap
if (parser.seen('X')) duplicate_extruder_x_offset = _MAX(parser.value_linear_units(), (X2_MIN_POS) - (X1_MIN_POS));
if (parser.seen('R')) duplicate_extruder_temp_offset = parser.value_celsius_diff(); if (parser.seen('R')) duplicate_extruder_temp_offset = parser.value_celsius_diff();
// Always switch back to tool 0
if (active_extruder != 0) tool_change(0); if (active_extruder != 0) tool_change(0);
break; break;
default: default:

2
Marlin/src/module/motion.cpp
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@ -946,7 +946,7 @@ FORCE_INLINE void segment_idle(millis_t &next_idle_ms) {
millis_t delayed_move_time = 0; // used in mode 1 millis_t delayed_move_time = 0; // used in mode 1
int16_t duplicate_extruder_temp_offset = 0; // used in mode 2 int16_t duplicate_extruder_temp_offset = 0; // used in mode 2
float x_home_pos(const int extruder) { float x_home_pos(const uint8_t extruder) {
if (extruder == 0) if (extruder == 0)
return base_home_pos(X_AXIS); return base_home_pos(X_AXIS);
else else

2
Marlin/src/module/motion.h
View File

@ -378,7 +378,7 @@ void homeaxis(const AxisEnum axis);
FORCE_INLINE bool dxc_is_duplicating() { return dual_x_carriage_mode >= DXC_DUPLICATION_MODE; } FORCE_INLINE bool dxc_is_duplicating() { return dual_x_carriage_mode >= DXC_DUPLICATION_MODE; }
float x_home_pos(const int extruder); float x_home_pos(const uint8_t extruder);
FORCE_INLINE int x_home_dir(const uint8_t extruder) { return extruder ? X2_HOME_DIR : X_HOME_DIR; } FORCE_INLINE int x_home_dir(const uint8_t extruder) { return extruder ? X2_HOME_DIR : X_HOME_DIR; }

295
Marlin/src/module/tool_change.cpp
View File

@ -31,7 +31,9 @@
#include "../MarlinCore.h" #include "../MarlinCore.h"
#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE) //#define DEBUG_TOOL_CHANGE
#define DEBUG_OUT ENABLED(DEBUG_TOOL_CHANGE)
#include "../core/debug_out.h" #include "../core/debug_out.h"
#if EXTRUDERS > 1 #if EXTRUDERS > 1
@ -190,10 +192,8 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
current_position.x = mpe_settings.parking_xpos[new_tool] + offsetcompensation; current_position.x = mpe_settings.parking_xpos[new_tool] + offsetcompensation;
if (DEBUGGING(LEVELING)) { DEBUG_ECHOPAIR("(1) Move extruder ", int(new_tool));
DEBUG_ECHOPAIR("(1) Move extruder ", int(new_tool)); DEBUG_POS(" to new extruder ParkPos", current_position);
DEBUG_POS(" to new extruder ParkPos", current_position);
}
planner.buffer_line(current_position, mpe_settings.fast_feedrate, new_tool); planner.buffer_line(current_position, mpe_settings.fast_feedrate, new_tool);
planner.synchronize(); planner.synchronize();
@ -202,10 +202,8 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
current_position.x = grabpos + offsetcompensation; current_position.x = grabpos + offsetcompensation;
if (DEBUGGING(LEVELING)) { DEBUG_ECHOPAIR("(2) Couple extruder ", int(new_tool));
DEBUG_ECHOPAIR("(2) Couple extruder ", int(new_tool)); DEBUG_POS(" to new extruder GrabPos", current_position);
DEBUG_POS(" to new extruder GrabPos", current_position);
}
planner.buffer_line(current_position, mpe_settings.slow_feedrate, new_tool); planner.buffer_line(current_position, mpe_settings.slow_feedrate, new_tool);
planner.synchronize(); planner.synchronize();
@ -216,10 +214,9 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
// STEP 3 // STEP 3
current_position.x = mpe_settings.parking_xpos[new_tool] + offsetcompensation; current_position.x = mpe_settings.parking_xpos[new_tool] + offsetcompensation;
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOPAIR("(3) Move extruder ", int(new_tool)); DEBUG_ECHOPAIR("(3) Move extruder ", int(new_tool));
DEBUG_POS(" back to new extruder ParkPos", current_position); DEBUG_POS(" back to new extruder ParkPos", current_position);
}
planner.buffer_line(current_position, mpe_settings.slow_feedrate, new_tool); planner.buffer_line(current_position, mpe_settings.slow_feedrate, new_tool);
planner.synchronize(); planner.synchronize();
@ -227,10 +224,9 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
// STEP 4 // STEP 4
current_position.x = mpe_settings.parking_xpos[active_extruder] + (active_extruder == 0 ? MPE_TRAVEL_DISTANCE : -MPE_TRAVEL_DISTANCE) + offsetcompensation; current_position.x = mpe_settings.parking_xpos[active_extruder] + (active_extruder == 0 ? MPE_TRAVEL_DISTANCE : -MPE_TRAVEL_DISTANCE) + offsetcompensation;
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOPAIR("(4) Move extruder ", int(new_tool)); DEBUG_ECHOPAIR("(4) Move extruder ", int(new_tool));
DEBUG_POS(" close to old extruder ParkPos", current_position); DEBUG_POS(" close to old extruder ParkPos", current_position);
}
planner.buffer_line(current_position, mpe_settings.fast_feedrate, new_tool); planner.buffer_line(current_position, mpe_settings.fast_feedrate, new_tool);
planner.synchronize(); planner.synchronize();
@ -239,10 +235,8 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
current_position.x = mpe_settings.parking_xpos[active_extruder] + offsetcompensation; current_position.x = mpe_settings.parking_xpos[active_extruder] + offsetcompensation;
if (DEBUGGING(LEVELING)) { DEBUG_ECHOPAIR("(5) Park extruder ", int(new_tool));
DEBUG_ECHOPAIR("(5) Park extruder ", int(new_tool)); DEBUG_POS(" at old extruder ParkPos", current_position);
DEBUG_POS(" at old extruder ParkPos", current_position);
}
planner.buffer_line(current_position, mpe_settings.slow_feedrate, new_tool); planner.buffer_line(current_position, mpe_settings.slow_feedrate, new_tool);
planner.synchronize(); planner.synchronize();
@ -251,15 +245,13 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
current_position.x = oldx; current_position.x = oldx;
if (DEBUGGING(LEVELING)) { DEBUG_ECHOPAIR("(6) Move extruder ", int(new_tool));
DEBUG_ECHOPAIR("(6) Move extruder ", int(new_tool)); DEBUG_POS(" to starting position", current_position);
DEBUG_POS(" to starting position", current_position);
}
planner.buffer_line(current_position, mpe_settings.fast_feedrate, new_tool); planner.buffer_line(current_position, mpe_settings.fast_feedrate, new_tool);
planner.synchronize(); planner.synchronize();
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Autopark done."); DEBUG_ECHOLNPGM("Autopark done.");
} }
#elif ENABLED(PARKING_EXTRUDER) #elif ENABLED(PARKING_EXTRUDER)
@ -308,34 +300,35 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
// STEP 1 // STEP 1
if (DEBUGGING(LEVELING)) DEBUG_POS("Start PE Tool-Change", current_position); DEBUG_POS("Start PE Tool-Change", current_position);
current_position.x = parkingposx[active_extruder] + x_offset; current_position.x = parkingposx[active_extruder] + x_offset;
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOLNPAIR("(1) Park extruder ", int(active_extruder)); DEBUG_ECHOLNPAIR("(1) Park extruder ", int(active_extruder));
DEBUG_POS("Moving ParkPos", current_position); DEBUG_POS("Moving ParkPos", current_position);
}
fast_line_to_current(X_AXIS); fast_line_to_current(X_AXIS);
// STEP 2 // STEP 2
planner.synchronize(); planner.synchronize();
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(2) Disengage magnet"); DEBUG_ECHOLNPGM("(2) Disengage magnet");
pe_deactivate_solenoid(active_extruder); pe_deactivate_solenoid(active_extruder);
// STEP 3 // STEP 3
current_position.x += active_extruder ? -10 : 10; // move 10mm away from parked extruder current_position.x += active_extruder ? -10 : 10; // move 10mm away from parked extruder
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOLNPGM("(3) Move near new extruder"); DEBUG_ECHOLNPGM("(3) Move near new extruder");
DEBUG_POS("Move away from parked extruder", current_position); DEBUG_POS("Move away from parked extruder", current_position);
}
fast_line_to_current(X_AXIS); fast_line_to_current(X_AXIS);
// STEP 4 // STEP 4
planner.synchronize(); planner.synchronize();
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(4) Engage magnetic field"); DEBUG_ECHOLNPGM("(4) Engage magnetic field");
// Just save power for inverted magnets // Just save power for inverted magnets
TERN_(PARKING_EXTRUDER_SOLENOIDS_INVERT, pe_activate_solenoid(active_extruder)); TERN_(PARKING_EXTRUDER_SOLENOIDS_INVERT, pe_activate_solenoid(active_extruder));
pe_activate_solenoid(new_tool); pe_activate_solenoid(new_tool);
@ -346,23 +339,23 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
fast_line_to_current(X_AXIS); fast_line_to_current(X_AXIS);
current_position.x = grabpos; current_position.x = grabpos;
if (DEBUGGING(LEVELING)) {
planner.synchronize(); DEBUG_SYNCHRONIZE();
DEBUG_POS("(5) Unpark extruder", current_position); DEBUG_POS("(5) Unpark extruder", current_position);
}
slow_line_to_current(X_AXIS); slow_line_to_current(X_AXIS);
// STEP 6 // STEP 6
current_position.x = midpos - TERN0(HAS_HOTEND_OFFSET, hotend_offset[new_tool].x); current_position.x = midpos - TERN0(HAS_HOTEND_OFFSET, hotend_offset[new_tool].x);
if (DEBUGGING(LEVELING)) {
planner.synchronize(); DEBUG_SYNCHRONIZE();
DEBUG_POS("(6) Move midway between hotends", current_position); DEBUG_POS("(6) Move midway between hotends", current_position);
}
fast_line_to_current(X_AXIS); fast_line_to_current(X_AXIS);
planner.synchronize(); // Always sync the final move planner.synchronize(); // Always sync the final move
if (DEBUGGING(LEVELING)) DEBUG_POS("PE Tool-Change done.", current_position); DEBUG_POS("PE Tool-Change done.", current_position);
} }
else { // nomove == true else { // nomove == true
// Only engage magnetic field for new extruder // Only engage magnetic field for new extruder
@ -399,31 +392,31 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
// 1. Move to switch position of current toolhead // 1. Move to switch position of current toolhead
if (DEBUGGING(LEVELING)) DEBUG_POS("Start ST Tool-Change", current_position); DEBUG_POS("Start ST Tool-Change", current_position);
current_position.x = placexpos; current_position.x = placexpos;
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOLNPAIR("(1) Place old tool ", int(active_extruder)); DEBUG_ECHOLNPAIR("(1) Place old tool ", int(active_extruder));
DEBUG_POS("Move X SwitchPos", current_position); DEBUG_POS("Move X SwitchPos", current_position);
}
fast_line_to_current(X_AXIS); fast_line_to_current(X_AXIS);
current_position.y = SWITCHING_TOOLHEAD_Y_POS - (SWITCHING_TOOLHEAD_Y_SECURITY); current_position.y = SWITCHING_TOOLHEAD_Y_POS - (SWITCHING_TOOLHEAD_Y_SECURITY);
if (DEBUGGING(LEVELING)) {
planner.synchronize(); DEBUG_SYNCHRONIZE();
DEBUG_POS("Move Y SwitchPos + Security", current_position); DEBUG_POS("Move Y SwitchPos + Security", current_position);
}
fast_line_to_current(Y_AXIS); fast_line_to_current(Y_AXIS);
// 2. Unlock tool and drop it in the dock // 2. Unlock tool and drop it in the dock
planner.synchronize(); planner.synchronize();
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(2) Unlock and Place Toolhead"); DEBUG_ECHOLNPGM("(2) Unlock and Place Toolhead");
swt_lock(false); swt_lock(false);
safe_delay(500); safe_delay(500);
current_position.y = SWITCHING_TOOLHEAD_Y_POS; current_position.y = SWITCHING_TOOLHEAD_Y_POS;
if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos", current_position); DEBUG_POS("Move Y SwitchPos", current_position);
slow_line_to_current(Y_AXIS); slow_line_to_current(Y_AXIS);
// Wait for move to complete, then another 0.2s // Wait for move to complete, then another 0.2s
@ -431,34 +424,34 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
safe_delay(200); safe_delay(200);
current_position.y -= SWITCHING_TOOLHEAD_Y_CLEAR; current_position.y -= SWITCHING_TOOLHEAD_Y_CLEAR;
if (DEBUGGING(LEVELING)) DEBUG_POS("Move back Y clear", current_position); DEBUG_POS("Move back Y clear", current_position);
fast_line_to_current(Y_AXIS); // move away from docked toolhead fast_line_to_current(Y_AXIS); // move away from docked toolhead
// 3. Move to the new toolhead // 3. Move to the new toolhead
current_position.x = grabxpos; current_position.x = grabxpos;
if (DEBUGGING(LEVELING)) {
planner.synchronize(); DEBUG_SYNCHRONIZE();
DEBUG_ECHOLNPGM("(3) Move to new toolhead position"); DEBUG_ECHOLNPGM("(3) Move to new toolhead position");
DEBUG_POS("Move to new toolhead X", current_position); DEBUG_POS("Move to new toolhead X", current_position);
}
fast_line_to_current(X_AXIS); fast_line_to_current(X_AXIS);
current_position.y = SWITCHING_TOOLHEAD_Y_POS - (SWITCHING_TOOLHEAD_Y_SECURITY); current_position.y = SWITCHING_TOOLHEAD_Y_POS - (SWITCHING_TOOLHEAD_Y_SECURITY);
if (DEBUGGING(LEVELING)) {
planner.synchronize(); DEBUG_SYNCHRONIZE();
DEBUG_POS("Move Y SwitchPos + Security", current_position); DEBUG_POS("Move Y SwitchPos + Security", current_position);
}
fast_line_to_current(Y_AXIS); fast_line_to_current(Y_AXIS);
// 4. Grab and lock the new toolhead // 4. Grab and lock the new toolhead
current_position.y = SWITCHING_TOOLHEAD_Y_POS; current_position.y = SWITCHING_TOOLHEAD_Y_POS;
if (DEBUGGING(LEVELING)) {
planner.synchronize(); DEBUG_SYNCHRONIZE();
DEBUG_ECHOLNPGM("(4) Grab and lock new toolhead"); DEBUG_ECHOLNPGM("(4) Grab and lock new toolhead");
DEBUG_POS("Move Y SwitchPos", current_position); DEBUG_POS("Move Y SwitchPos", current_position);
}
slow_line_to_current(Y_AXIS); slow_line_to_current(Y_AXIS);
// Wait for move to finish, pause 0.2s, move servo, pause 0.5s // Wait for move to finish, pause 0.2s, move servo, pause 0.5s
@ -468,11 +461,11 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
safe_delay(500); safe_delay(500);
current_position.y -= SWITCHING_TOOLHEAD_Y_CLEAR; current_position.y -= SWITCHING_TOOLHEAD_Y_CLEAR;
if (DEBUGGING(LEVELING)) DEBUG_POS("Move back Y clear", current_position); DEBUG_POS("Move back Y clear", current_position);
fast_line_to_current(Y_AXIS); // Move away from docked toolhead fast_line_to_current(Y_AXIS); // Move away from docked toolhead
planner.synchronize(); // Always sync the final move planner.synchronize(); // Always sync the final move
if (DEBUGGING(LEVELING)) DEBUG_POS("ST Tool-Change done.", current_position); DEBUG_POS("ST Tool-Change done.", current_position);
} }
#elif ENABLED(MAGNETIC_SWITCHING_TOOLHEAD) #elif ENABLED(MAGNETIC_SWITCHING_TOOLHEAD)
@ -495,83 +488,77 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
* 4. Grab the new toolhead and move to security position * 4. Grab the new toolhead and move to security position
*/ */
if (DEBUGGING(LEVELING)) DEBUG_POS("Start MST Tool-Change", current_position); DEBUG_POS("Start MST Tool-Change", current_position);
// 1. Move to switch position current toolhead // 1. Move to switch position current toolhead
current_position.y = SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_CLEAR; current_position.y = SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_CLEAR;
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOLNPAIR("(1) Place old tool ", int(active_extruder)); SERIAL_ECHOLNPAIR("(1) Place old tool ", int(active_extruder));
DEBUG_POS("Move Y SwitchPos + Security", current_position); DEBUG_POS("Move Y SwitchPos + Security", current_position);
}
fast_line_to_current(Y_AXIS); fast_line_to_current(Y_AXIS);
current_position.x = placexclear; current_position.x = placexclear;
if (DEBUGGING(LEVELING)) {
planner.synchronize(); DEBUG_SYNCHRONIZE();
DEBUG_POS("Move X SwitchPos + Security", current_position); DEBUG_POS("Move X SwitchPos + Security", current_position);
}
fast_line_to_current(X_AXIS); fast_line_to_current(X_AXIS);
current_position.y = SWITCHING_TOOLHEAD_Y_POS; current_position.y = SWITCHING_TOOLHEAD_Y_POS;
if (DEBUGGING(LEVELING)) {
planner.synchronize(); DEBUG_SYNCHRONIZE();
DEBUG_POS("Move Y SwitchPos", current_position); DEBUG_POS("Move Y SwitchPos", current_position);
}
fast_line_to_current(Y_AXIS); fast_line_to_current(Y_AXIS);
current_position.x = placexpos; current_position.x = placexpos;
if (DEBUGGING(LEVELING)) {
planner.synchronize(); DEBUG_SYNCHRONIZE();
DEBUG_POS("Move X SwitchPos", current_position); DEBUG_POS("Move X SwitchPos", current_position);
}
line_to_current_position(planner.settings.max_feedrate_mm_s[X_AXIS] * 0.25f); line_to_current_position(planner.settings.max_feedrate_mm_s[X_AXIS] * 0.25f);
// 2. Release and place toolhead in the dock // 2. Release and place toolhead in the dock
if (DEBUGGING(LEVELING)) { DEBUG_SYNCHRONIZE();
planner.synchronize(); DEBUG_ECHOLNPGM("(2) Release and Place Toolhead");
DEBUG_ECHOLNPGM("(2) Release and Place Toolhead");
}
current_position.y = SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_RELEASE; current_position.y = SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_RELEASE;
if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos + Release", current_position); DEBUG_POS("Move Y SwitchPos + Release", current_position);
line_to_current_position(planner.settings.max_feedrate_mm_s[Y_AXIS] * 0.1f); line_to_current_position(planner.settings.max_feedrate_mm_s[Y_AXIS] * 0.1f);
current_position.y = SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_SECURITY; current_position.y = SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_SECURITY;
if (DEBUGGING(LEVELING)) {
planner.synchronize(); DEBUG_SYNCHRONIZE();
DEBUG_POS("Move Y SwitchPos + Security", current_position); DEBUG_POS("Move Y SwitchPos + Security", current_position);
}
line_to_current_position(planner.settings.max_feedrate_mm_s[Y_AXIS]); line_to_current_position(planner.settings.max_feedrate_mm_s[Y_AXIS]);
// 3. Move to new toolhead position // 3. Move to new toolhead position
if (DEBUGGING(LEVELING)) { DEBUG_SYNCHRONIZE();
planner.synchronize(); DEBUG_ECHOLNPGM("(3) Move to new toolhead position");
DEBUG_ECHOLNPGM("(3) Move to new toolhead position");
}
current_position.x = grabxpos; current_position.x = grabxpos;
if (DEBUGGING(LEVELING)) DEBUG_POS("Move to new toolhead X", current_position); DEBUG_POS("Move to new toolhead X", current_position);
fast_line_to_current(X_AXIS); fast_line_to_current(X_AXIS);
// 4. Grab the new toolhead and move to security position // 4. Grab the new toolhead and move to security position
if (DEBUGGING(LEVELING)) { DEBUG_SYNCHRONIZE();
planner.synchronize(); DEBUG_ECHOLNPGM("(4) Grab new toolhead, move to security position");
DEBUG_ECHOLNPGM("(4) Grab new toolhead, move to security position");
}
current_position.y = SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_RELEASE; current_position.y = SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_RELEASE;
if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos + Release", current_position); DEBUG_POS("Move Y SwitchPos + Release", current_position);
line_to_current_position(planner.settings.max_feedrate_mm_s[Y_AXIS]); line_to_current_position(planner.settings.max_feedrate_mm_s[Y_AXIS]);
current_position.y = SWITCHING_TOOLHEAD_Y_POS; current_position.y = SWITCHING_TOOLHEAD_Y_POS;
if (DEBUGGING(LEVELING)) {
planner.synchronize(); DEBUG_SYNCHRONIZE();
DEBUG_POS("Move Y SwitchPos", current_position); DEBUG_POS("Move Y SwitchPos", current_position);
}
_line_to_current(Y_AXIS, 0.2f); _line_to_current(Y_AXIS, 0.2f);
#if ENABLED(PRIME_BEFORE_REMOVE) && (SWITCHING_TOOLHEAD_PRIME_MM || SWITCHING_TOOLHEAD_RETRACT_MM) #if ENABLED(PRIME_BEFORE_REMOVE) && (SWITCHING_TOOLHEAD_PRIME_MM || SWITCHING_TOOLHEAD_RETRACT_MM)
@ -589,17 +576,17 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
#endif #endif
current_position.x = grabxclear; current_position.x = grabxclear;
if (DEBUGGING(LEVELING)) DEBUG_POS("Move to new toolhead X + Security", current_position); DEBUG_POS("Move to new toolhead X + Security", current_position);
_line_to_current(X_AXIS, 0.1f); _line_to_current(X_AXIS, 0.1f);
planner.synchronize(); planner.synchronize();
safe_delay(100); // Give switch time to settle safe_delay(100); // Give switch time to settle
current_position.y += SWITCHING_TOOLHEAD_Y_CLEAR; current_position.y += SWITCHING_TOOLHEAD_Y_CLEAR;
if (DEBUGGING(LEVELING)) DEBUG_POS("Move back Y clear", current_position); DEBUG_POS("Move back Y clear", current_position);
fast_line_to_current(Y_AXIS); // move away from docked toolhead fast_line_to_current(Y_AXIS); // move away from docked toolhead
planner.synchronize(); // Always sync last tool-change move planner.synchronize(); // Always sync last tool-change move
if (DEBUGGING(LEVELING)) DEBUG_POS("MST Tool-Change done.", current_position); DEBUG_POS("MST Tool-Change done.", current_position);
} }
#elif ENABLED(ELECTROMAGNETIC_SWITCHING_TOOLHEAD) #elif ENABLED(ELECTROMAGNETIC_SWITCHING_TOOLHEAD)
@ -628,32 +615,29 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
* 9. Apply Z hotend offset to current position * 9. Apply Z hotend offset to current position
*/ */
if (DEBUGGING(LEVELING)) DEBUG_POS("Start EMST Tool-Change", current_position); DEBUG_POS("Start EMST Tool-Change", current_position);
// 1. Raise Z-Axis to give enough clearance // 1. Raise Z-Axis to give enough clearance
current_position.z += SWITCHING_TOOLHEAD_Z_HOP; current_position.z += SWITCHING_TOOLHEAD_Z_HOP;
if (DEBUGGING(LEVELING)) DEBUG_POS("(1) Raise Z-Axis ", current_position); DEBUG_POS("(1) Raise Z-Axis ", current_position);
fast_line_to_current(Z_AXIS); fast_line_to_current(Z_AXIS);
// 2. Move to position near active extruder parking // 2. Move to position near active extruder parking
if (DEBUGGING(LEVELING)) { DEBUG_SYNCHRONIZE();
planner.synchronize(); DEBUG_ECHOLNPAIR("(2) Move near active extruder parking", active_extruder);
SERIAL_ECHOLNPAIR("(2) Move near active extruder parking", active_extruder); DEBUG_POS("Moving ParkPos", current_position);
DEBUG_POS("Moving ParkPos", current_position);
}
current_position.set(hoffs.x + placexpos, current_position.set(hoffs.x + placexpos,
hoffs.y + SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_CLEAR); hoffs.y + SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_CLEAR);
fast_line_to_current(X_AXIS); fast_line_to_current(X_AXIS);
// 3. Move gently to park position of active extruder // 3. Move gently to park position of active extruder
if (DEBUGGING(LEVELING)) { DEBUG_SYNCHRONIZE();
planner.synchronize(); SERIAL_ECHOLNPAIR("(3) Move gently to park position of active extruder", active_extruder);
SERIAL_ECHOLNPAIR("(3) Move gently to park position of active extruder", active_extruder); DEBUG_POS("Moving ParkPos", current_position);
DEBUG_POS("Moving ParkPos", current_position);
}
current_position.y -= SWITCHING_TOOLHEAD_Y_CLEAR; current_position.y -= SWITCHING_TOOLHEAD_Y_CLEAR;
slow_line_to_current(Y_AXIS); slow_line_to_current(Y_AXIS);
@ -661,15 +645,13 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
// 4. Disengage magnetic field, wait for delay // 4. Disengage magnetic field, wait for delay
planner.synchronize(); planner.synchronize();
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(4) Disengage magnet"); DEBUG_ECHOLNPGM("(4) Disengage magnet");
est_deactivate_solenoid(); est_deactivate_solenoid();
// 5. Leave extruder and move to position near new extruder parking // 5. Leave extruder and move to position near new extruder parking
if (DEBUGGING(LEVELING)) { DEBUG_ECHOLNPGM("(5) Move near new extruder parking");
DEBUG_ECHOLNPGM("(5) Move near new extruder parking"); DEBUG_POS("Moving ParkPos", current_position);
DEBUG_POS("Moving ParkPos", current_position);
}
current_position.y += SWITCHING_TOOLHEAD_Y_CLEAR; current_position.y += SWITCHING_TOOLHEAD_Y_CLEAR;
slow_line_to_current(Y_AXIS); slow_line_to_current(Y_AXIS);
@ -688,23 +670,23 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
// 7. Engage magnetic field for new extruder parking // 7. Engage magnetic field for new extruder parking
planner.synchronize(); DEBUG_SYNCHRONIZE();
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(7) Engage magnetic field"); DEBUG_ECHOLNPGM("(7) Engage magnetic field");
est_activate_solenoid(); est_activate_solenoid();
// 8. Unpark extruder // 8. Unpark extruder
current_position.y += SWITCHING_TOOLHEAD_Y_CLEAR; current_position.y += SWITCHING_TOOLHEAD_Y_CLEAR;
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(8) Unpark extruder"); DEBUG_ECHOLNPGM("(8) Unpark extruder");
slow_line_to_current(X_AXIS); slow_line_to_current(X_AXIS);
planner.synchronize(); // Always sync the final move planner.synchronize(); // Always sync the final move
// 9. Apply Z hotend offset to current position // 9. Apply Z hotend offset to current position
if (DEBUGGING(LEVELING)) DEBUG_POS("(9) Applying Z-offset", current_position); DEBUG_POS("(9) Applying Z-offset", current_position);
current_position.z += hoffs.z - hotend_offset[new_tool].z; current_position.z += hoffs.z - hotend_offset[new_tool].z;
if (DEBUGGING(LEVELING)) DEBUG_POS("EMST Tool-Change done.", current_position); DEBUG_POS("EMST Tool-Change done.", current_position);
} }
#endif // ELECTROMAGNETIC_SWITCHING_TOOLHEAD #endif // ELECTROMAGNETIC_SWITCHING_TOOLHEAD
@ -720,14 +702,13 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
#if ENABLED(DUAL_X_CARRIAGE) #if ENABLED(DUAL_X_CARRIAGE)
inline void dualx_tool_change(const uint8_t new_tool, bool &no_move) { inline void dualx_tool_change(const uint8_t new_tool, bool &no_move) {
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOPGM("Dual X Carriage Mode "); DEBUG_ECHOPGM("Dual X Carriage Mode ");
switch (dual_x_carriage_mode) { switch (dual_x_carriage_mode) {
case DXC_FULL_CONTROL_MODE: DEBUG_ECHOLNPGM("FULL_CONTROL"); break; case DXC_FULL_CONTROL_MODE: DEBUG_ECHOLNPGM("FULL_CONTROL"); break;
case DXC_AUTO_PARK_MODE: DEBUG_ECHOLNPGM("AUTO_PARK"); break; case DXC_AUTO_PARK_MODE: DEBUG_ECHOLNPGM("AUTO_PARK"); break;
case DXC_DUPLICATION_MODE: DEBUG_ECHOLNPGM("DUPLICATION"); break; case DXC_DUPLICATION_MODE: DEBUG_ECHOLNPGM("DUPLICATION"); break;
case DXC_MIRRORED_MODE: DEBUG_ECHOLNPGM("MIRRORED"); break; case DXC_MIRRORED_MODE: DEBUG_ECHOLNPGM("MIRRORED"); break;
}
} }
const float xhome = x_home_pos(active_extruder); const float xhome = x_home_pos(active_extruder);
@ -736,7 +717,7 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
&& (delayed_move_time || current_position.x != xhome) && (delayed_move_time || current_position.x != xhome)
) { ) {
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("MoveX to ", xhome); DEBUG_ECHOLNPAIR("MoveX to ", xhome);
// Park old head // Park old head
current_position.x = xhome; current_position.x = xhome;
@ -750,7 +731,7 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
// This function resets the max/min values - the current position may be overwritten below. // This function resets the max/min values - the current position may be overwritten below.
set_axis_is_at_home(X_AXIS); set_axis_is_at_home(X_AXIS);
if (DEBUGGING(LEVELING)) DEBUG_POS("New Extruder", current_position); DEBUG_POS("New Extruder", current_position);
switch (dual_x_carriage_mode) { switch (dual_x_carriage_mode) {
case DXC_FULL_CONTROL_MODE: case DXC_FULL_CONTROL_MODE:
@ -769,10 +750,8 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
break; break;
} }
if (DEBUGGING(LEVELING)) { DEBUG_ECHOLNPAIR("Active extruder parked: ", active_extruder_parked ? "yes" : "no");
DEBUG_ECHOLNPAIR("Active extruder parked: ", active_extruder_parked ? "yes" : "no"); DEBUG_POS("New extruder (parked)", current_position);
DEBUG_POS("New extruder (parked)", current_position);
}
} }
#endif // DUAL_X_CARRIAGE #endif // DUAL_X_CARRIAGE
@ -905,7 +884,7 @@ void tool_change(const uint8_t new_tool, bool no_move/*=false*/) {
if (!no_move && homing_needed()) { if (!no_move && homing_needed()) {
no_move = true; no_move = true;
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("No move (not homed)"); DEBUG_ECHOLNPGM("No move (not homed)");
} }
TERN_(HAS_LCD_MENU, if (!no_move) ui.return_to_status()); TERN_(HAS_LCD_MENU, if (!no_move) ui.return_to_status());
@ -1058,7 +1037,7 @@ void tool_change(const uint8_t new_tool, bool no_move/*=false*/) {
if (DISABLED(DUAL_X_CARRIAGE)) active_extruder = new_tool; if (DISABLED(DUAL_X_CARRIAGE)) active_extruder = new_tool;
// The newly-selected extruder XYZ is actually at... // The newly-selected extruder XYZ is actually at...
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Offset Tool XYZ by { ", diff.x, ", ", diff.y, ", ", diff.z, " }"); DEBUG_ECHOLNPAIR("Offset Tool XYZ by { ", diff.x, ", ", diff.y, ", ", diff.z, " }");
current_position += diff; current_position += diff;
// Tell the planner the new "current position" // Tell the planner the new "current position"
@ -1139,7 +1118,7 @@ void tool_change(const uint8_t new_tool, bool no_move/*=false*/) {
if (can_move_away) { if (can_move_away) {
#if ENABLED(TOOLCHANGE_NO_RETURN) #if ENABLED(TOOLCHANGE_NO_RETURN)
// Just move back down // Just move back down
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Move back Z only"); DEBUG_ECHOLNPGM("Move back Z only");
#if ENABLED(TOOLCHANGE_PARK) #if ENABLED(TOOLCHANGE_PARK)
if (toolchange_settings.enable_park) if (toolchange_settings.enable_park)
@ -1148,7 +1127,7 @@ void tool_change(const uint8_t new_tool, bool no_move/*=false*/) {
#else #else
// Move back to the original (or adjusted) position // Move back to the original (or adjusted) position
if (DEBUGGING(LEVELING)) DEBUG_POS("Move back", destination); DEBUG_POS("Move back", destination);
#if ENABLED(TOOLCHANGE_PARK) #if ENABLED(TOOLCHANGE_PARK)
if (toolchange_settings.enable_park) do_blocking_move_to_xy_z(destination, destination.z, MMM_TO_MMS(TOOLCHANGE_PARK_XY_FEEDRATE)); if (toolchange_settings.enable_park) do_blocking_move_to_xy_z(destination, destination.z, MMM_TO_MMS(TOOLCHANGE_PARK_XY_FEEDRATE));
@ -1159,7 +1138,7 @@ void tool_change(const uint8_t new_tool, bool no_move/*=false*/) {
#endif #endif
} }
else if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Move back skipped"); else DEBUG_ECHOLNPGM("Move back skipped");
#if ENABLED(TOOLCHANGE_FILAMENT_SWAP) #if ENABLED(TOOLCHANGE_FILAMENT_SWAP)
if (should_swap && !too_cold) { if (should_swap && !too_cold) {

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