Merge pull request #3620 from Blue-Marlin/feedrate_atfer_toolchange
This commit is contained in:
Scott Lahteine
commit
ad0f70f2f3
@ -6304,131 +6304,134 @@ inline void gcode_T(uint8_t tmp_extruder) {
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SERIAL_CHAR('T');
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SERIAL_PROTOCOL_F(tmp_extruder, DEC);
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SERIAL_ECHOLN(MSG_INVALID_EXTRUDER);
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return;
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}
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float stored_feedrate = feedrate;
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if (code_seen('F')) {
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float next_feedrate = code_value();
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if (next_feedrate > 0.0) stored_feedrate = feedrate = next_feedrate;
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}
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else {
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target_extruder = tmp_extruder;
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#if EXTRUDERS > 1
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bool make_move = false;
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#ifdef XY_TRAVEL_SPEED
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feedrate = XY_TRAVEL_SPEED;
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#else
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feedrate = min(max_feedrate[X_AXIS], max_feedrate[Y_AXIS]);
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#endif
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if (code_seen('F')) {
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#if EXTRUDERS > 1
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make_move = true;
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#endif
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float next_feedrate = code_value();
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if (next_feedrate > 0.0) feedrate = next_feedrate;
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}
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#if EXTRUDERS > 1
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if (tmp_extruder != active_extruder) {
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// Save current position to return to after applying extruder offset
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set_destination_to_current();
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#if ENABLED(DUAL_X_CARRIAGE)
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if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE && IsRunning() &&
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(delayed_move_time || current_position[X_AXIS] != x_home_pos(active_extruder))) {
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// Park old head: 1) raise 2) move to park position 3) lower
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plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT,
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current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder);
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plan_buffer_line(x_home_pos(active_extruder), current_position[Y_AXIS], current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT,
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current_position[E_AXIS], max_feedrate[X_AXIS], active_extruder);
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plan_buffer_line(x_home_pos(active_extruder), current_position[Y_AXIS], current_position[Z_AXIS],
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current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder);
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st_synchronize();
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}
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// apply Y & Z extruder offset (x offset is already used in determining home pos)
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current_position[Y_AXIS] -= extruder_offset[Y_AXIS][active_extruder] - extruder_offset[Y_AXIS][tmp_extruder];
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current_position[Z_AXIS] -= extruder_offset[Z_AXIS][active_extruder] - extruder_offset[Z_AXIS][tmp_extruder];
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active_extruder = tmp_extruder;
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// This function resets the max/min values - the current position may be overwritten below.
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set_axis_is_at_home(X_AXIS);
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if (dual_x_carriage_mode == DXC_FULL_CONTROL_MODE) {
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current_position[X_AXIS] = inactive_extruder_x_pos;
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inactive_extruder_x_pos = destination[X_AXIS];
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}
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else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE) {
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active_extruder_parked = (active_extruder == 0); // this triggers the second extruder to move into the duplication position
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if (active_extruder == 0 || active_extruder_parked)
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current_position[X_AXIS] = inactive_extruder_x_pos;
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else
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current_position[X_AXIS] = destination[X_AXIS] + duplicate_extruder_x_offset;
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inactive_extruder_x_pos = destination[X_AXIS];
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extruder_duplication_enabled = false;
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}
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else {
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// record raised toolhead position for use by unpark
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memcpy(raised_parked_position, current_position, sizeof(raised_parked_position));
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raised_parked_position[Z_AXIS] += TOOLCHANGE_UNPARK_ZLIFT;
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active_extruder_parked = true;
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delayed_move_time = 0;
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}
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#else // !DUAL_X_CARRIAGE
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#if ENABLED(AUTO_BED_LEVELING_FEATURE)
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// Offset extruder, make sure to apply the bed level rotation matrix
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vector_3 tmp_offset_vec = vector_3(extruder_offset[X_AXIS][tmp_extruder],
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extruder_offset[Y_AXIS][tmp_extruder],
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0),
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act_offset_vec = vector_3(extruder_offset[X_AXIS][active_extruder],
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extruder_offset[Y_AXIS][active_extruder],
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0),
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offset_vec = tmp_offset_vec - act_offset_vec;
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) {
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SERIAL_ECHOLNPGM(">>> gcode_T");
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tmp_offset_vec.debug("tmp_offset_vec");
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act_offset_vec.debug("act_offset_vec");
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offset_vec.debug("offset_vec (BEFORE)");
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DEBUG_POS("BEFORE rotation", current_position);
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}
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#endif
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offset_vec.apply_rotation(plan_bed_level_matrix.transpose(plan_bed_level_matrix));
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current_position[X_AXIS] += offset_vec.x;
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current_position[Y_AXIS] += offset_vec.y;
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current_position[Z_AXIS] += offset_vec.z;
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) {
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offset_vec.debug("offset_vec (AFTER)");
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DEBUG_POS("AFTER rotation", current_position);
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SERIAL_ECHOLNPGM("<<< gcode_T");
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}
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#endif
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#else // !AUTO_BED_LEVELING_FEATURE
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// Offset extruder (only by XY)
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for (int i=X_AXIS; i<=Y_AXIS; i++)
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current_position[i] += extruder_offset[i][tmp_extruder] - extruder_offset[i][active_extruder];
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#endif // !AUTO_BED_LEVELING_FEATURE
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// Set the new active extruder and position
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active_extruder = tmp_extruder;
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#endif // !DUAL_X_CARRIAGE
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#if ENABLED(DELTA)
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sync_plan_position_delta();
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#else
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sync_plan_position();
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#endif
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// Move to the old position if 'F' was in the parameters
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if (make_move && IsRunning()) prepare_move();
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}
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#if ENABLED(EXT_SOLENOID)
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st_synchronize();
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disable_all_solenoids();
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enable_solenoid_on_active_extruder();
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#endif // EXT_SOLENOID
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#endif // EXTRUDERS > 1
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SERIAL_ECHO_START;
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SERIAL_ECHO(MSG_ACTIVE_EXTRUDER);
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SERIAL_PROTOCOLLN((int)active_extruder);
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}
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#if EXTRUDERS > 1
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if (tmp_extruder != active_extruder) {
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// Save current position to return to after applying extruder offset
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set_destination_to_current();
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#if ENABLED(DUAL_X_CARRIAGE)
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if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE && IsRunning() &&
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(delayed_move_time || current_position[X_AXIS] != x_home_pos(active_extruder))) {
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// Park old head: 1) raise 2) move to park position 3) lower
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plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT,
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current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder);
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plan_buffer_line(x_home_pos(active_extruder), current_position[Y_AXIS], current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT,
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current_position[E_AXIS], max_feedrate[X_AXIS], active_extruder);
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plan_buffer_line(x_home_pos(active_extruder), current_position[Y_AXIS], current_position[Z_AXIS],
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current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder);
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st_synchronize();
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}
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// apply Y & Z extruder offset (x offset is already used in determining home pos)
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current_position[Y_AXIS] -= extruder_offset[Y_AXIS][active_extruder] - extruder_offset[Y_AXIS][tmp_extruder];
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current_position[Z_AXIS] -= extruder_offset[Z_AXIS][active_extruder] - extruder_offset[Z_AXIS][tmp_extruder];
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active_extruder = tmp_extruder;
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// This function resets the max/min values - the current position may be overwritten below.
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set_axis_is_at_home(X_AXIS);
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if (dual_x_carriage_mode == DXC_FULL_CONTROL_MODE) {
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current_position[X_AXIS] = inactive_extruder_x_pos;
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inactive_extruder_x_pos = destination[X_AXIS];
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}
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else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE) {
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active_extruder_parked = (active_extruder == 0); // this triggers the second extruder to move into the duplication position
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if (active_extruder_parked)
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current_position[X_AXIS] = inactive_extruder_x_pos;
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else
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current_position[X_AXIS] = destination[X_AXIS] + duplicate_extruder_x_offset;
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inactive_extruder_x_pos = destination[X_AXIS];
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extruder_duplication_enabled = false;
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}
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else {
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// record raised toolhead position for use by unpark
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memcpy(raised_parked_position, current_position, sizeof(raised_parked_position));
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raised_parked_position[Z_AXIS] += TOOLCHANGE_UNPARK_ZLIFT;
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active_extruder_parked = true;
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delayed_move_time = 0;
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}
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// No extra case for AUTO_BED_LEVELING_FEATURE in DUAL_X_CARRIAGE. Does that mean they don't work together?
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#else // !DUAL_X_CARRIAGE
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#if ENABLED(AUTO_BED_LEVELING_FEATURE)
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// Offset extruder, make sure to apply the bed level rotation matrix
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vector_3 tmp_offset_vec = vector_3(extruder_offset[X_AXIS][tmp_extruder],
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extruder_offset[Y_AXIS][tmp_extruder],
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0),
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act_offset_vec = vector_3(extruder_offset[X_AXIS][active_extruder],
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extruder_offset[Y_AXIS][active_extruder],
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0),
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offset_vec = tmp_offset_vec - act_offset_vec;
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) {
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SERIAL_ECHOLNPGM(">>> gcode_T");
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tmp_offset_vec.debug("tmp_offset_vec");
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act_offset_vec.debug("act_offset_vec");
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offset_vec.debug("offset_vec (BEFORE)");
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DEBUG_POS("BEFORE rotation", current_position);
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}
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#endif
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offset_vec.apply_rotation(plan_bed_level_matrix.transpose(plan_bed_level_matrix));
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current_position[X_AXIS] += offset_vec.x;
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current_position[Y_AXIS] += offset_vec.y;
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current_position[Z_AXIS] += offset_vec.z;
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) {
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offset_vec.debug("offset_vec (AFTER)");
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DEBUG_POS("AFTER rotation", current_position);
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SERIAL_ECHOLNPGM("<<< gcode_T");
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}
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#endif
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#else // !AUTO_BED_LEVELING_FEATURE
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// Offset extruder (only by XY)
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for (int i=X_AXIS; i<=Y_AXIS; i++)
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current_position[i] += extruder_offset[i][tmp_extruder] - extruder_offset[i][active_extruder];
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#endif // !AUTO_BED_LEVELING_FEATURE
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// Set the new active extruder and position
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active_extruder = tmp_extruder;
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#endif // !DUAL_X_CARRIAGE
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#if ENABLED(DELTA)
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sync_plan_position_delta();
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#else
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sync_plan_position();
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#endif
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// Move to the old position
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if (IsRunning()) prepare_move();
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} // (tmp_extruder != active_extruder)
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#if ENABLED(EXT_SOLENOID)
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st_synchronize();
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disable_all_solenoids();
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enable_solenoid_on_active_extruder();
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#endif // EXT_SOLENOID
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#endif // EXTRUDERS > 1
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feedrate = stored_feedrate;
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SERIAL_ECHO_START;
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SERIAL_ECHO(MSG_ACTIVE_EXTRUDER);
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SERIAL_PROTOCOLLN((int)active_extruder);
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}
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/**
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