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Simplified leveling-based tool change

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This commit is contained in:
Scott Lahteine 2018-03-29 18:29:52 -05:00
parent 1a75165f35
commit 5acccbacc1
1 changed files with 24 additions and 104 deletions
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128
Marlin/src/module/tool_change.cpp
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@ -116,8 +116,6 @@
} }
inline void parking_extruder_tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool no_move/*=false*/) { inline void parking_extruder_tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool no_move/*=false*/) {
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,
@ -140,7 +138,7 @@
SERIAL_ECHOLNPGM("Starting Autopark"); SERIAL_ECHOLNPGM("Starting Autopark");
if (DEBUGGING(LEVELING)) DEBUG_POS("current position:", current_position); if (DEBUGGING(LEVELING)) DEBUG_POS("current position:", current_position);
#endif #endif
current_position[Z_AXIS] += z_raise; current_position[Z_AXIS] += PARKING_EXTRUDER_SECURITY_RAISE;
#if ENABLED(DEBUG_LEVELING_FEATURE) #if ENABLED(DEBUG_LEVELING_FEATURE)
SERIAL_ECHOLNPGM("(1) Raise Z-Axis "); SERIAL_ECHOLNPGM("(1) Raise Z-Axis ");
if (DEBUGGING(LEVELING)) DEBUG_POS("Moving to Raised Z-Position", current_position); if (DEBUGGING(LEVELING)) DEBUG_POS("Moving to Raised Z-Position", current_position);
@ -350,6 +348,8 @@ inline void invalid_extruder_error(const uint8_t e) {
#endif // DUAL_X_CARRIAGE #endif // DUAL_X_CARRIAGE
#define DO_SWITCH_EXTRUDER (SWITCHING_EXTRUDER_SERVO_NR != SWITCHING_NOZZLE_SERVO_NR)
/** /**
* Perform a tool-change, which may result in moving the * Perform a tool-change, which may result in moving the
* previous tool out of the way and the new tool into place. * previous tool out of the way and the new tool into place.
@ -381,127 +381,53 @@ 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();
#if HAS_LEVELING
// Set current position to the physical position
const bool leveling_was_active = planner.leveling_active;
set_bed_leveling_enabled(false);
#endif
#if ENABLED(DUAL_X_CARRIAGE) #if ENABLED(DUAL_X_CARRIAGE)
dualx_tool_change(tmp_extruder, no_move); // Can modify no_move dualx_tool_change(tmp_extruder, no_move); // Can modify no_move
#else // !DUAL_X_CARRIAGE #else // !DUAL_X_CARRIAGE
#if ENABLED(PARKING_EXTRUDER) #if ENABLED(PARKING_EXTRUDER) // Dual Parking extruder
parking_extruder_tool_change(tmp_extruder, no_move); parking_extruder_tool_change(tmp_extruder, no_move);
#endif #endif
#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. 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], current_position[Z_AXIS] += (z_diff > 0.0 ? z_diff : 0.0) + 0.3;
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
/** const float xdiff = hotend_offset[X_AXIS][tmp_extruder] - hotend_offset[X_AXIS][active_extruder],
* Set current_position to the position of the new nozzle. ydiff = hotend_offset[Y_AXIS][tmp_extruder] - hotend_offset[Y_AXIS][active_extruder];
* 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 ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) { if (DEBUGGING(LEVELING)) {
tmp_offset_vec.debug(PSTR("tmp_offset_vec")); SERIAL_ECHOPAIR("Offset Tool XY by { ", xdiff);
act_offset_vec.debug(PSTR("act_offset_vec")); SERIAL_ECHOPAIR(", ", ydiff);
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 (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("Offset Tool XY by { ", xydiff[X_AXIS]);
SERIAL_ECHOPAIR(", ", xydiff[Y_AXIS]);
SERIAL_ECHOLNPGM(" }"); SERIAL_ECHOLNPGM(" }");
} }
#endif #endif
// The newly-selected extruder XY is actually at... // The newly-selected extruder XY is actually at...
current_position[X_AXIS] += xydiff[X_AXIS]; current_position[X_AXIS] += xdiff;
current_position[Y_AXIS] += xydiff[Y_AXIS]; current_position[Y_AXIS] += ydiff;
// Set the new active extruder // Set the new active extruder
active_extruder = tmp_extruder; active_extruder = tmp_extruder;
#endif // !DUAL_X_CARRIAGE #endif // !DUAL_X_CARRIAGE
#if ENABLED(DEBUG_LEVELING_FEATURE) #if HAS_LEVELING
if (DEBUGGING(LEVELING)) DEBUG_POS("Sync After Toolchange", current_position); // Restore leveling to re-establish the logical position
set_bed_leveling_enabled(leveling_was_active);
#endif #endif
// Tell the planner the new "current position" // Tell the planner the new "current position"
@ -509,17 +435,11 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
#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)
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 (safe_to_move && !no_move && IsRunning()) {
++current_position[Z_AXIS];
planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
}
#else #else
constexpr bool safe_to_move = true; constexpr bool safe_to_move = true;
#endif #endif
// Move to the "old position" (move the extruder into place)
#if ENABLED(SWITCHING_NOZZLE) #if ENABLED(SWITCHING_NOZZLE)
destination[Z_AXIS] += z_diff; // Include the Z restore with the "move back" destination[Z_AXIS] += z_diff; // Include the Z restore with the "move back"
#endif #endif
@ -544,7 +464,7 @@ 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;
@ -565,7 +485,7 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
#endif // HOTENDS <= 1 #endif // HOTENDS <= 1
#if ENABLED(SWITCHING_EXTRUDER) && !DONT_SWITCH #if DO_SWITCH_EXTRUDER
stepper.synchronize(); stepper.synchronize();
move_extruder_servo(active_extruder); move_extruder_servo(active_extruder);
#endif #endif