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@ -33,7 +33,7 @@ |
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#include "../gcode/gcode.h" // for dwell() |
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#endif |
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#if ENABLED(SWITCHING_EXTRUDER) || ENABLED(SWITCHING_NOZZLE) |
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#if ENABLED(SWITCHING_EXTRUDER) || ENABLED(SWITCHING_NOZZLE) || ENABLED(SWITCHING_TOOLHEAD) |
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#include "../module/servo.h" |
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#endif |
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@ -213,6 +213,129 @@ |
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#endif // PARKING_EXTRUDER
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#if ENABLED(SWITCHING_TOOLHEAD) |
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inline void switching_toolhead_tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool no_move/*=false*/) { |
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if (no_move) return; |
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constexpr uint16_t angles[2] = SWITCHING_TOOLHEAD_SERVO_ANGLES; |
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const float toolheadposx[] = SWITCHING_TOOLHEAD_X_POS, |
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placexpos = toolheadposx[active_extruder], |
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grabxpos = toolheadposx[tmp_extruder]; |
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/**
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* 1. Raise Z to give enough clearance |
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* 2. Move to switch position of current toolhead |
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* 3. Unlock tool and drop it in the dock |
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* 4. Move to the new toolhead |
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* 5. Grab and lock the new toolhead |
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* 6. Apply the z-offset of the new toolhead |
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*/ |
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// STEP 1
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#if ENABLED(DEBUG_LEVELING_FEATURE) |
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if (DEBUGGING(LEVELING)) DEBUG_POS("Starting Toolhead change", current_position); |
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#endif |
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current_position[Z_AXIS] += SWITCHING_TOOLHEAD_SECURITY_RAISE; |
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#if ENABLED(DEBUG_LEVELING_FEATURE) |
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if (DEBUGGING(LEVELING)) DEBUG_POS("(1) Raise Z-Axis", current_position); |
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#endif |
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planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder); |
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planner.synchronize(); |
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// STEP 2
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current_position[X_AXIS] = placexpos; |
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#if ENABLED(DEBUG_LEVELING_FEATURE) |
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if (DEBUGGING(LEVELING)) { |
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SERIAL_ECHOLNPAIR("(2) 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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#endif |
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planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder); |
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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 ENABLED(DEBUG_LEVELING_FEATURE) |
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if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos + Security", current_position); |
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#endif |
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planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Y_AXIS], active_extruder); |
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planner.synchronize(); |
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// STEP 3
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#if ENABLED(DEBUG_LEVELING_FEATURE) |
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("(3) Unlock and Place Toolhead"); |
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#endif |
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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 ENABLED(DEBUG_LEVELING_FEATURE) |
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if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos", current_position); |
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#endif |
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planner.buffer_line_kinematic(current_position,(planner.max_feedrate_mm_s[Y_AXIS] * 0.5), active_extruder); |
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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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#if ENABLED(DEBUG_LEVELING_FEATURE) |
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if (DEBUGGING(LEVELING)) DEBUG_POS("Move back Y clear", current_position); |
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#endif |
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planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Y_AXIS], active_extruder); // move away from docked toolhead
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planner.synchronize(); |
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// STEP 4
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#if ENABLED(DEBUG_LEVELING_FEATURE) |
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("(4) Move to new toolhead position"); |
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#endif |
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current_position[X_AXIS] = grabxpos; |
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#if ENABLED(DEBUG_LEVELING_FEATURE) |
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if (DEBUGGING(LEVELING)) DEBUG_POS("Move to new toolhead X", current_position); |
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#endif |
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planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder); |
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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 ENABLED(DEBUG_LEVELING_FEATURE) |
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if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos + Security", current_position); |
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#endif |
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planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Y_AXIS], active_extruder); |
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planner.synchronize(); |
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// STEP 5
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#if ENABLED(DEBUG_LEVELING_FEATURE) |
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("(5) Grab and lock new toolhead "); |
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#endif |
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current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS; |
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#if ENABLED(DEBUG_LEVELING_FEATURE) |
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if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos", current_position); |
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#endif |
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planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Y_AXIS] * 0.5, active_extruder); |
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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 ENABLED(DEBUG_LEVELING_FEATURE) |
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if (DEBUGGING(LEVELING)) DEBUG_POS("Move back Y clear", current_position); |
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#endif |
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planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Y_AXIS], active_extruder); // move away from docked toolhead
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planner.synchronize(); |
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// STEP 6
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current_position[Z_AXIS] += hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder]; |
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#if ENABLED(DEBUG_LEVELING_FEATURE) |
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if (DEBUGGING(LEVELING)) DEBUG_POS("(6) Apply Z offset", current_position); |
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#endif |
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#if ENABLED(DEBUG_LEVELING_FEATURE) |
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Toolhead change done."); |
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#endif |
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} |
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#endif // SWITCHING_TOOLHEAD
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inline void invalid_extruder_error(const uint8_t e) { |
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SERIAL_ECHO_START(); |
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SERIAL_CHAR('T'); |
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@ -386,19 +509,24 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n |
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#else // !DUAL_X_CARRIAGE
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set_destination_from_current(); |
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#if ENABLED(PARKING_EXTRUDER) // Dual Parking extruder
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parking_extruder_tool_change(tmp_extruder, no_move); |
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#endif |
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const float xdiff = hotend_offset[X_AXIS][tmp_extruder] - hotend_offset[X_AXIS][active_extruder], |
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ydiff = hotend_offset[Y_AXIS][tmp_extruder] - hotend_offset[Y_AXIS][active_extruder], |
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zdiff = hotend_offset[Z_AXIS][tmp_extruder] - hotend_offset[Z_AXIS][active_extruder]; |
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ydiff = hotend_offset[Y_AXIS][tmp_extruder] - hotend_offset[Y_AXIS][active_extruder]; |
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#if ENABLED(SWITCHING_NOZZLE) |
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// Always raise by at least 1 to avoid workpiece
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current_position[Z_AXIS] += (zdiff < 0.0 ? -zdiff : 0.0) + 1; |
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planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder); |
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move_nozzle_servo(tmp_extruder); |
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#if ENABLED(PARKING_EXTRUDER) // Dual Parking extruder
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constexpr float zdiff = 0; |
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parking_extruder_tool_change(tmp_extruder, no_move); |
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#elif ENABLED(SWITCHING_TOOLHEAD) // Switching Toolhead
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constexpr float zdiff = 0; |
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switching_toolhead_tool_change(tmp_extruder, fr_mm_s, no_move); |
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#else |
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const float zdiff = hotend_offset[Z_AXIS][tmp_extruder] - hotend_offset[Z_AXIS][active_extruder]; |
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#if ENABLED(SWITCHING_NOZZLE) |
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// Always raise by at least 1 to avoid workpiece
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current_position[Z_AXIS] += MAX(-zdiff, 0.0) + 1; |
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planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder); |
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move_nozzle_servo(tmp_extruder); |
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#endif |
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#endif |
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#if ENABLED(DEBUG_LEVELING_FEATURE) |
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