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Simplified leveling-based tool change

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This commit is contained in:
Scott Lahteine 2018-03-18 21:08:36 -05:00
parent 0afdec882c
commit 52750bf362
1 changed files with 29 additions and 95 deletions
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124
Marlin/Marlin_main.cpp
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@ -536,6 +536,10 @@ static millis_t stepper_inactive_time = (DEFAULT_STEPPER_DEACTIVE_TIME) * 1000UL
#define BUZZ(d,f) NOOP #define BUZZ(d,f) NOOP
#endif #endif
#if ENABLED(SWITCHING_NOZZLE)
#define DONT_SWITCH (SWITCHING_EXTRUDER_SERVO_NR == SWITCHING_NOZZLE_SERVO_NR)
#endif
uint8_t target_extruder; uint8_t target_extruder;
#if HAS_BED_PROBE #if HAS_BED_PROBE
@ -11309,6 +11313,15 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
// Save current position to destination, for use later // Save current position to destination, for use later
set_destination_from_current(); set_destination_from_current();
// Set current position to the physical position
const bool leveling_was_active = planner.leveling_active;
set_bed_leveling_enabled(false);
const float xydiff[2] = {
hotend_offset[X_AXIS][tmp_extruder] - hotend_offset[X_AXIS][active_extruder],
hotend_offset[Y_AXIS][tmp_extruder] - hotend_offset[Y_AXIS][active_extruder]
};
#if ENABLED(DUAL_X_CARRIAGE) #if ENABLED(DUAL_X_CARRIAGE)
#if ENABLED(DEBUG_LEVELING_FEATURE) #if ENABLED(DEBUG_LEVELING_FEATURE)
@ -11416,9 +11429,12 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
#else // !DUAL_X_CARRIAGE #else // !DUAL_X_CARRIAGE
#if ENABLED(PARKING_EXTRUDER) // Dual Parking extruder #if ENABLED(PARKING_EXTRUDER) || ENABLED(SWITCHING_NOZZLE)
const float z_diff = hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder]; const float z_diff = hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder];
float z_raise = PARKING_EXTRUDER_SECURITY_RAISE; #endif
#if ENABLED(PARKING_EXTRUDER) // Dual Parking extruder
constexpr float z_raise = PARKING_EXTRUDER_SECURITY_RAISE;
if (!no_move) { if (!no_move) {
const float parkingposx[] = PARKING_EXTRUDER_PARKING_X, const float parkingposx[] = PARKING_EXTRUDER_PARKING_X,
@ -11516,7 +11532,7 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
pe_activate_magnet(active_extruder); // Just save power for inverted magnets pe_activate_magnet(active_extruder); // Just save power for inverted magnets
#endif #endif
} }
current_position[Z_AXIS] -= hotend_offset[Z_AXIS][tmp_extruder] - hotend_offset[Z_AXIS][active_extruder]; // Apply Zoffset current_position[Z_AXIS] += z_diff; // Apply Zoffset
#if ENABLED(DEBUG_LEVELING_FEATURE) #if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("Applying Z-offset", current_position); if (DEBUGGING(LEVELING)) DEBUG_POS("Applying Z-offset", current_position);
@ -11525,97 +11541,12 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
#endif // dualParking extruder #endif // dualParking extruder
#if ENABLED(SWITCHING_NOZZLE) #if ENABLED(SWITCHING_NOZZLE)
#define DONT_SWITCH (SWITCHING_EXTRUDER_SERVO_NR == SWITCHING_NOZZLE_SERVO_NR) // Always raise by at least 0.3
// <0 if the new nozzle is higher, >0 if lower. A bigger raise when lower. current_position[Z_AXIS] += (z_diff > 0.0 ? z_diff : 0.0) + 0.3;
const float z_diff = hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder],
z_raise = 0.3 + (z_diff > 0.0 ? z_diff : 0.0);
// Always raise by some amount
current_position[Z_AXIS] += z_raise;
planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder); planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
move_nozzle_servo(tmp_extruder); move_nozzle_servo(tmp_extruder);
#endif #endif
/**
* Set current_position to the position of the new nozzle.
* Offsets are based on linear distance, so we need to get
* the resulting position in coordinate space.
*
* - With grid or 3-point leveling, offset XYZ by a tilted vector
* - With mesh leveling, update Z for the new position
* - Otherwise, just use the raw linear distance
*
* Software endstops are altered here too. Consider a case where:
* E0 at X=0 ... E1 at X=10
* When we switch to E1 now X=10, but E1 can't move left.
* To express this we apply the change in XY to the software endstops.
* E1 can move farther right than E0, so the right limit is extended.
*
* Note that we don't adjust the Z software endstops. Why not?
* Consider a case where Z=0 (here) and switching to E1 makes Z=1
* because the bed is 1mm lower at the new position. As long as
* the first nozzle is out of the way, the carriage should be
* allowed to move 1mm lower. This technically "breaks" the
* Z software endstop. But this is technically correct (and
* there is no viable alternative).
*/
#if ABL_PLANAR
// Offset extruder, make sure to apply the bed level rotation matrix
vector_3 tmp_offset_vec = vector_3(hotend_offset[X_AXIS][tmp_extruder],
hotend_offset[Y_AXIS][tmp_extruder],
0),
act_offset_vec = vector_3(hotend_offset[X_AXIS][active_extruder],
hotend_offset[Y_AXIS][active_extruder],
0),
offset_vec = tmp_offset_vec - act_offset_vec;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
tmp_offset_vec.debug(PSTR("tmp_offset_vec"));
act_offset_vec.debug(PSTR("act_offset_vec"));
offset_vec.debug(PSTR("offset_vec (BEFORE)"));
}
#endif
offset_vec.apply_rotation(planner.bed_level_matrix.transpose(planner.bed_level_matrix));
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) offset_vec.debug(PSTR("offset_vec (AFTER)"));
#endif
// Adjustments to the current position
const float xydiff[2] = { offset_vec.x, offset_vec.y };
current_position[Z_AXIS] += offset_vec.z;
#else // !ABL_PLANAR
const float xydiff[2] = {
hotend_offset[X_AXIS][tmp_extruder] - hotend_offset[X_AXIS][active_extruder],
hotend_offset[Y_AXIS][tmp_extruder] - hotend_offset[Y_AXIS][active_extruder]
};
#if HAS_MESH && PLANNER_LEVELING
if (planner.leveling_active) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOPAIR("Z before: ", current_position[Z_AXIS]);
#endif
float x2 = current_position[X_AXIS] + xydiff[X_AXIS],
y2 = current_position[Y_AXIS] + xydiff[Y_AXIS],
z1 = current_position[Z_AXIS], z2 = z1;
planner.apply_leveling(current_position[X_AXIS], current_position[Y_AXIS], z1);
planner.apply_leveling(x2, y2, z2);
current_position[Z_AXIS] += z2 - z1;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING))
SERIAL_ECHOLNPAIR(" after: ", current_position[Z_AXIS]);
#endif
}
#endif // HAS_MESH && PLANNER_LEVELING
#endif // !HAS_ABL
#if ENABLED(DEBUG_LEVELING_FEATURE) #if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) { if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("Offset Tool XY by { ", xydiff[X_AXIS]); SERIAL_ECHOPAIR("Offset Tool XY by { ", xydiff[X_AXIS]);
@ -11633,19 +11564,22 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
#endif // !DUAL_X_CARRIAGE #endif // !DUAL_X_CARRIAGE
#if ENABLED(DEBUG_LEVELING_FEATURE) // Restore leveling to re-establish the logical position
if (DEBUGGING(LEVELING)) DEBUG_POS("Sync After Toolchange", current_position); set_bed_leveling_enabled(leveling_was_active);
#endif
// Tell the planner the new "current position" // Tell the planner the new "current position"
SYNC_PLAN_POSITION_KINEMATIC(); SYNC_PLAN_POSITION_KINEMATIC();
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("Sync After Toolchange", current_position);
#endif
#if ENABLED(DELTA) #if ENABLED(DELTA)
//LOOP_XYZ(i) update_software_endstops(i); // or modify the constrain function //LOOP_XYZ(i) update_software_endstops(i); // or modify the constrain function
// Do a small lift to avoid the workpiece in the move back (below) // Do a small lift to avoid the workpiece in the move back (below)
const bool safe_to_move = current_position[Z_AXIS] < delta_clip_start_height - 1; const bool safe_to_move = current_position[Z_AXIS] < delta_clip_start_height - 1;
if (!no_move && IsRunning() && safe_to_move) { if (!no_move && IsRunning() && safe_to_move) {
++current_position[Z_AXIS]; current_position[Z_AXIS] += 1.0;
planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder); planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
} }
#else #else
@ -11677,7 +11611,7 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
#if ENABLED(EXT_SOLENOID) && !ENABLED(PARKING_EXTRUDER) #if ENABLED(EXT_SOLENOID) && !ENABLED(PARKING_EXTRUDER)
disable_all_solenoids(); disable_all_solenoids();
enable_solenoid_on_active_extruder(); enable_solenoid_on_active_extruder();
#endif // EXT_SOLENOID #endif
feedrate_mm_s = old_feedrate_mm_s; feedrate_mm_s = old_feedrate_mm_s;