From bc87e97357496cbd84b855450c33b3f94124fb3c Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Mon, 4 Mar 2019 19:09:31 -0600 Subject: [PATCH] Prevent a tool change move out of bounds --- Marlin/src/module/tool_change.cpp | 52 +++++++++++++++++-------------- 1 file changed, 29 insertions(+), 23 deletions(-) diff --git a/Marlin/src/module/tool_change.cpp b/Marlin/src/module/tool_change.cpp index 322b6b7c06..289166ef9d 100644 --- a/Marlin/src/module/tool_change.cpp +++ b/Marlin/src/module/tool_change.cpp @@ -126,6 +126,10 @@ #endif // SWITCHING_NOZZLE +inline void fast_line_to_current(const AxisEnum fr_axis) { + planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[fr_axis], active_extruder); +} + #if ENABLED(MAGNETIC_PARKING_EXTRUDER) float parkingposx[2] , // M951 R L @@ -308,7 +312,7 @@ 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); + fast_line_to_current(Z_AXIS); planner.synchronize(); // STEP 2 @@ -322,7 +326,7 @@ } #endif - planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[X_AXIS], active_extruder); + fast_line_to_current(X_AXIS); planner.synchronize(); // STEP 3 @@ -345,7 +349,7 @@ 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); + fast_line_to_current(X_AXIS); planner.synchronize(); // STEP 5 @@ -362,12 +366,12 @@ // 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); + fast_line_to_current(X_AXIS); current_position[X_AXIS] = grabpos; #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) DEBUG_POS("(6) Unpark extruder", current_position); #endif - planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[X_AXIS]/2, active_extruder); + planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[X_AXIS] * 0.5, active_extruder); planner.synchronize(); // STEP 7 @@ -382,7 +386,7 @@ 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); + fast_line_to_current(X_AXIS); planner.synchronize(); #if ENABLED(DEBUG_LEVELING_FEATURE) @@ -428,7 +432,7 @@ * 6. Apply the z-offset of the new toolhead */ - // STEP 1 + // 1. Raise Z to give enough clearance #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) DEBUG_POS("Starting Toolhead change", current_position); @@ -440,10 +444,10 @@ 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); + fast_line_to_current(Z_AXIS); planner.synchronize(); - // STEP 2 + // 2. Move to switch position of current toolhead current_position[X_AXIS] = placexpos; @@ -454,7 +458,7 @@ } #endif - planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[X_AXIS], active_extruder); + fast_line_to_current(X_AXIS); planner.synchronize(); current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS - SWITCHING_TOOLHEAD_Y_SECURITY; @@ -463,10 +467,10 @@ 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); + fast_line_to_current(Y_AXIS); planner.synchronize(); - // STEP 3 + // 3. Unlock tool and drop it in the dock #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("(3) Unlock and Place Toolhead"); @@ -490,10 +494,10 @@ 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 + fast_line_to_current(Y_AXIS); // move away from docked toolhead planner.synchronize(); - // STEP 4 + // 4. Move to the new toolhead #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("(4) Move to new toolhead position"); @@ -505,7 +509,7 @@ 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); + fast_line_to_current(X_AXIS); planner.synchronize(); current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS - SWITCHING_TOOLHEAD_Y_SECURITY; @@ -513,10 +517,10 @@ 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); + fast_line_to_current(Y_AXIS); planner.synchronize(); - // STEP 5 + // 5. Grab and lock the new toolhead #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("(5) Grab and lock new toolhead "); @@ -541,10 +545,10 @@ 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 + fast_line_to_current(Y_AXIS); // move away from docked toolhead planner.synchronize(); - // STEP 6 + // 6. Apply the z-offset of the new toolhead #if HAS_HOTEND_OFFSET current_position[Z_AXIS] += hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder]; @@ -589,9 +593,7 @@ inline void invalid_extruder_error(const uint8_t e) { ) { #if ENABLED(DEBUG_LEVELING_FEATURE) - if (DEBUGGING(LEVELING)) { - SERIAL_ECHOLNPAIR("MoveX to ", xhome); - } + if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("MoveX to ", xhome); #endif // Park old head planner.buffer_line(xhome, current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], planner.settings.max_feedrate_mm_s[X_AXIS], active_extruder); @@ -797,7 +799,7 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n #if HAS_SOFTWARE_ENDSTOPS NOMORE(current_position[Z_AXIS], soft_endstop_max[Z_AXIS]); #endif - if (!no_move)planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[Z_AXIS], active_extruder); + if (!no_move) fast_line_to_current(Z_AXIS); move_nozzle_servo(tmp_extruder); #endif @@ -867,8 +869,12 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n } #endif + // Prevent a move outside physical bounds + clamp_to_software_endstops(destination); + // Move back to the original (or tweaked) position do_blocking_move_to(destination); + #if ENABLED(DUAL_X_CARRIAGE) active_extruder_parked = false; #endif