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@ -108,7 +108,7 @@ void FWRetract::retract(const bool retracting |
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// G11 priority to recover the long retract if activated
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// G11 priority to recover the long retract if activated
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if (!retracting) swapping = retracted_swap[active_extruder]; |
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if (!retracting) swapping = retracted_swap[active_extruder]; |
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#else |
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#else |
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const bool swapping = false; |
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constexpr bool swapping = false; |
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#endif |
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#endif |
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/* // debugging
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/* // debugging
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@ -118,62 +118,57 @@ void FWRetract::retract(const bool retracting |
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for (uint8_t i = 0; i < EXTRUDERS; ++i) { |
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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_ECHOPAIR("retracted[", i); |
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SERIAL_ECHOLNPAIR("] ", retracted[i]); |
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SERIAL_ECHOLNPAIR("] ", retracted[i]); |
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SERIAL_ECHOPAIR("retracted_swap[", i); |
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#if EXTRUDERS > 1 |
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SERIAL_ECHOLNPAIR("] ", retracted_swap[i]); |
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SERIAL_ECHOPAIR("retracted_swap[", i); |
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SERIAL_ECHOLNPAIR("] ", retracted_swap[i]); |
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#endif |
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} |
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} |
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SERIAL_ECHOLNPAIR("current_position[z] ", current_position[Z_AXIS]); |
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SERIAL_ECHOLNPAIR("current_position[z] ", current_position[Z_AXIS]); |
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SERIAL_ECHOLNPAIR("current_position[e] ", current_position[E_AXIS]); |
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SERIAL_ECHOLNPAIR("current_position[e] ", current_position[E_AXIS]); |
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SERIAL_ECHOLNPAIR("hop_amount ", hop_amount); |
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SERIAL_ECHOLNPAIR("hop_amount ", hop_amount); |
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//*/
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//*/
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const float old_feedrate_mm_s = feedrate_mm_s; |
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const float old_feedrate_mm_s = feedrate_mm_s, |
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renormalize = RECIPROCAL(planner.e_factor[active_extruder]), |
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base_retract = swapping ? swap_retract_length : retract_length, |
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old_z = current_position[Z_AXIS], |
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old_e = current_position[E_AXIS]; |
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// The current position will be the destination for E and Z moves
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// The current position will be the destination for E and Z moves
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set_destination_from_current(); |
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set_destination_from_current(); |
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stepper.synchronize(); // Wait for buffered moves to complete
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const float renormalize = 1.0 / planner.e_factor[active_extruder]; |
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if (retracting) { |
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if (retracting) { |
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// Retract by moving from a faux E position back to the current E position
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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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feedrate_mm_s = retract_feedrate_mm_s; |
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current_position[E_AXIS] += (swapping ? swap_retract_length : retract_length) * renormalize; |
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destination[E_AXIS] -= base_retract * renormalize; |
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sync_plan_position_e(); |
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prepare_move_to_destination(); // set_current_to_destination
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prepare_move_to_destination(); // set_current_to_destination
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// Is a Z hop set, and has the hop not yet been done?
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// Is a Z hop set, and has the hop not yet been done?
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// No double zlifting
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// Feedrate to the max
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if (retract_zlift > 0.01 && !hop_amount) { // Apply hop only once
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if (retract_zlift > 0.01 && !hop_amount) { // Apply hop only once
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const float old_z = current_position[Z_AXIS]; |
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hop_amount += retract_zlift; // Add to the hop total (again, only once)
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hop_amount += retract_zlift; // Add to the hop total (again, only once)
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destination[Z_AXIS] += retract_zlift; // Raise Z by the zlift (M207 Z) amount
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destination[Z_AXIS] += retract_zlift; // Raise Z by the zlift (M207 Z) amount
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feedrate_mm_s = planner.max_feedrate_mm_s[Z_AXIS]; // Maximum Z feedrate
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feedrate_mm_s = planner.max_feedrate_mm_s[Z_AXIS]; // Maximum Z feedrate
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prepare_move_to_destination(); // Raise up, set_current_to_destination
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prepare_move_to_destination(); // Raise up, set_current_to_destination
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current_position[Z_AXIS] = old_z; // Spoof the Z position in the planner
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SYNC_PLAN_POSITION_KINEMATIC(); |
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} |
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} |
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} |
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} |
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else { |
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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 a hop was done and Z hasn't changed, undo the Z hop
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if (hop_amount) { |
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if (hop_amount) { |
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current_position[Z_AXIS] += hop_amount; // Set actual Z (due to the prior hop)
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destination[Z_AXIS] -= hop_amount; // Move back down by the total hop amount
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SYNC_PLAN_POSITION_KINEMATIC(); // Spoof the Z position in the planner
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feedrate_mm_s = planner.max_feedrate_mm_s[Z_AXIS]; // Z feedrate to max
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feedrate_mm_s = planner.max_feedrate_mm_s[Z_AXIS]; // Z feedrate to max
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prepare_move_to_destination(); // Lower Z, set_current_to_destination
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prepare_move_to_destination(); // Lower Z, set_current_to_destination
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hop_amount = 0.0; // Clear the hop amount
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hop_amount = 0.0; // Clear the hop amount
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} |
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} |
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// A retract multiplier has been added here to get faster swap recovery
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destination[E_AXIS] += (base_retract + (swapping ? swap_retract_recover_length : retract_recover_length)) * renormalize; |
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feedrate_mm_s = swapping ? swap_retract_recover_feedrate_mm_s : retract_recover_feedrate_mm_s; |
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feedrate_mm_s = swapping ? swap_retract_recover_feedrate_mm_s : retract_recover_feedrate_mm_s; |
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current_position[E_AXIS] -= (swapping ? swap_retract_length + swap_retract_recover_length |
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: retract_length + retract_recover_length) * renormalize; |
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sync_plan_position_e(); |
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prepare_move_to_destination(); // Recover E, set_current_to_destination
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prepare_move_to_destination(); // Recover E, set_current_to_destination
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} |
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} |
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feedrate_mm_s = old_feedrate_mm_s; // Restore original feedrate
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feedrate_mm_s = old_feedrate_mm_s; // Restore original feedrate
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current_position[Z_AXIS] = old_z; // Restore Z and E positions
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current_position[E_AXIS] = old_e; |
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SYNC_PLAN_POSITION_KINEMATIC(); // As if the move never took place
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retracted[active_extruder] = retracting; // Active extruder now retracted / recovered
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retracted[active_extruder] = retracting; // Active extruder now retracted / recovered
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@ -189,8 +184,10 @@ void FWRetract::retract(const bool retracting |
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for (uint8_t i = 0; i < EXTRUDERS; ++i) { |
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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_ECHOPAIR("retracted[", i); |
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SERIAL_ECHOLNPAIR("] ", retracted[i]); |
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SERIAL_ECHOLNPAIR("] ", retracted[i]); |
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SERIAL_ECHOPAIR("retracted_swap[", i); |
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#if EXTRUDERS > 1 |
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SERIAL_ECHOLNPAIR("] ", retracted_swap[i]); |
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SERIAL_ECHOPAIR("retracted_swap[", i); |
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SERIAL_ECHOLNPAIR("] ", retracted_swap[i]); |
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#endif |
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} |
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} |
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SERIAL_ECHOLNPAIR("current_position[z] ", current_position[Z_AXIS]); |
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SERIAL_ECHOLNPAIR("current_position[z] ", current_position[Z_AXIS]); |
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SERIAL_ECHOLNPAIR("current_position[e] ", current_position[E_AXIS]); |
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SERIAL_ECHOLNPAIR("current_position[e] ", current_position[E_AXIS]); |
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Scott Lahteine
6 years ago
GitHub