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@ -486,98 +486,92 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { |
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// 1. Move to switch position current toolhead
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current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_CLEAR; |
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if (DEBUGGING(LEVELING)) { |
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SERIAL_ECHOLNPAIR("(1) Place old tool ", int(active_extruder)); |
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DEBUG_POS("Move Y SwitchPos + Security", current_position); |
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} |
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planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[Y_AXIS], active_extruder); |
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planner.synchronize(); |
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current_position[X_AXIS] = placexpos + SWITCHING_TOOLHEAD_X_SECURITY; |
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if (DEBUGGING(LEVELING)) DEBUG_POS("Move X SwitchPos + Security", current_position); |
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if (DEBUGGING(LEVELING)) { |
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planner.synchronize(); |
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DEBUG_POS("Move X SwitchPos + Security", current_position); |
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} |
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planner.buffer_line(current_position, planner.settings.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; |
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if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos", current_position); |
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if (DEBUGGING(LEVELING)) { |
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planner.synchronize(); |
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DEBUG_POS("Move Y SwitchPos", current_position); |
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} |
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planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[Y_AXIS], active_extruder); |
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planner.synchronize(); |
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current_position[X_AXIS] = placexpos; |
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if (DEBUGGING(LEVELING)) DEBUG_POS("Move X SwitchPos", current_position); |
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if (DEBUGGING(LEVELING)) { |
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planner.synchronize(); |
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DEBUG_POS("Move X SwitchPos", current_position); |
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} |
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planner.buffer_line(current_position, (planner.settings.max_feedrate_mm_s[X_AXIS] * 0.25), active_extruder); |
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planner.synchronize(); |
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// 2. Release and place toolhead in the dock
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("(2) Release and Place Toolhead"); |
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if (DEBUGGING(LEVELING)) { |
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planner.synchronize(); |
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SERIAL_ECHOLNPGM("(2) Release and Place Toolhead"); |
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} |
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current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_RELEASE; |
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if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos + Release", current_position); |
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planner.buffer_line(current_position, (planner.settings.max_feedrate_mm_s[Y_AXIS] * 0.1), 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 (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos + Security", current_position); |
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if (DEBUGGING(LEVELING)) { |
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planner.synchronize(); |
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DEBUG_POS("Move Y SwitchPos + Security", current_position); |
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} |
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planner.buffer_line(current_position, (planner.settings.max_feedrate_mm_s[Y_AXIS]), active_extruder); |
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planner.synchronize(); |
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// 3. Move to new toolhead position
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("(3) Move to new toolhead position"); |
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if (DEBUGGING(LEVELING)) { |
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planner.synchronize(); |
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SERIAL_ECHOLNPGM("(3) Move to new toolhead position"); |
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} |
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current_position[X_AXIS] = grabxpos; |
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if (DEBUGGING(LEVELING)) DEBUG_POS("Move to new toolhead X", current_position); |
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planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[X_AXIS], active_extruder); |
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planner.synchronize(); |
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// 4. Grab the new toolhead and move to security position
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("(4) Grab new toolhead and move to security position"); |
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if (DEBUGGING(LEVELING)) { |
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planner.synchronize(); |
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SERIAL_ECHOLNPGM("(4) Grab new toolhead and move to security position"); |
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} |
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current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_RELEASE; |
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if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos + Release", current_position); |
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planner.buffer_line(current_position, (planner.settings.max_feedrate_mm_s[Y_AXIS]), active_extruder); |
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planner.synchronize(); |
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current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS; |
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if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos", current_position); |
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if (DEBUGGING(LEVELING)) { |
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planner.synchronize(); |
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DEBUG_POS("Move Y SwitchPos", current_position); |
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} |
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planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[Y_AXIS] * 0.2, active_extruder); |
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planner.synchronize(); |
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safe_delay(100); |
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safe_delay(100); // Give switch time to settle
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current_position[X_AXIS] = grabxpos + SWITCHING_TOOLHEAD_X_SECURITY; |
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if (DEBUGGING(LEVELING)) DEBUG_POS("Move to new toolhead X + Security", current_position); |
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planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[X_AXIS] * 0.1, active_extruder); |
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planner.synchronize(); |
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safe_delay(100); |
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safe_delay(100); // Give switch time to settle
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current_position[Y_AXIS] += SWITCHING_TOOLHEAD_Y_CLEAR; |
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if (DEBUGGING(LEVELING)) DEBUG_POS("Move back Y clear", current_position); |
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planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[Y_AXIS], active_extruder); // move away from docked toolhead
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planner.synchronize(); |
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planner.synchronize(); // Always sync last tool-change move
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} |
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#elif ENABLED(ELECTROMAGNETIC_SWITCHING_TOOLHEAD) |
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