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Add custom types for position (#15204)

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This commit is contained in:
Scott Lahteine
2019-09-29 04:25:39 -05:00
committed by GitHub
parent 43d6e9fa43
commit 50e4545255
227 changed files with 3147 additions and 3264 deletions
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175
Marlin/src/module/tool_change.cpp
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@ -133,8 +133,8 @@
#endif // SWITCHING_NOZZLE
inline void _line_to_current(const AxisEnum fr_axis, const float fscale=1.0f) {
planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[fr_axis] * fscale, active_extruder);
inline void _line_to_current(const AxisEnum fr_axis, const float fscale=1) {
line_to_current_position(planner.settings.max_feedrate_mm_s[fr_axis] * fscale);
}
inline void slow_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_axis, 0.5f); }
inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_axis); }
@ -150,11 +150,11 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
inline void magnetic_parking_extruder_tool_change(const uint8_t new_tool) {
const float oldx = current_position[X_AXIS],
const float oldx = current_position.x,
grabpos = mpe_settings.parking_xpos[new_tool] + (new_tool ? mpe_settings.grab_distance : -mpe_settings.grab_distance),
offsetcompensation = (0
#if HAS_HOTEND_OFFSET
+ hotend_offset[X_AXIS][active_extruder] * mpe_settings.compensation_factor
+ hotend_offset[active_extruder].x * mpe_settings.compensation_factor
#endif
);
@ -174,7 +174,7 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
// STEP 1
current_position[X_AXIS] = mpe_settings.parking_xpos[new_tool] + offsetcompensation;
current_position.x = mpe_settings.parking_xpos[new_tool] + offsetcompensation;
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOPAIR("(1) Move extruder ", int(new_tool));
@ -186,7 +186,7 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
// STEP 2
current_position[X_AXIS] = grabpos + offsetcompensation;
current_position.x = grabpos + offsetcompensation;
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOPAIR("(2) Couple extruder ", int(new_tool));
@ -201,7 +201,7 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
// STEP 3
current_position[X_AXIS] = mpe_settings.parking_xpos[new_tool] + offsetcompensation;
current_position.x = mpe_settings.parking_xpos[new_tool] + offsetcompensation;
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOPAIR("(3) Move extruder ", int(new_tool));
DEBUG_POS(" back to new extruder ParkPos", current_position);
@ -212,7 +212,7 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
// STEP 4
current_position[X_AXIS] = mpe_settings.parking_xpos[active_extruder] + (active_extruder == 0 ? MPE_TRAVEL_DISTANCE : -MPE_TRAVEL_DISTANCE) + offsetcompensation;
current_position.x = mpe_settings.parking_xpos[active_extruder] + (active_extruder == 0 ? MPE_TRAVEL_DISTANCE : -MPE_TRAVEL_DISTANCE) + offsetcompensation;
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOPAIR("(4) Move extruder ", int(new_tool));
DEBUG_POS(" close to old extruder ParkPos", current_position);
@ -223,7 +223,7 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
// STEP 5
current_position[X_AXIS] = mpe_settings.parking_xpos[active_extruder] + offsetcompensation;
current_position.x = mpe_settings.parking_xpos[active_extruder] + offsetcompensation;
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOPAIR("(5) Park extruder ", int(new_tool));
@ -235,7 +235,7 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
// STEP 6
current_position[X_AXIS] = oldx;
current_position.x = oldx;
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOPAIR("(6) Move extruder ", int(new_tool));
@ -275,12 +275,12 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
constexpr float parkingposx[] = PARKING_EXTRUDER_PARKING_X;
#if HAS_HOTEND_OFFSET
const float x_offset = hotend_offset[X_AXIS][active_extruder];
const float x_offset = hotend_offset[active_extruder].x;
#else
constexpr float x_offset = 0;
#endif
const float midpos = (parkingposx[0] + parkingposx[1]) * 0.5 + x_offset,
const float midpos = (parkingposx[0] + parkingposx[1]) * 0.5f + x_offset,
grabpos = parkingposx[new_tool] + (new_tool ? PARKING_EXTRUDER_GRAB_DISTANCE : -(PARKING_EXTRUDER_GRAB_DISTANCE)) + x_offset;
/**
@ -296,7 +296,7 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
if (DEBUGGING(LEVELING)) DEBUG_POS("Start PE Tool-Change", current_position);
current_position[X_AXIS] = parkingposx[active_extruder] + x_offset;
current_position.x = parkingposx[active_extruder] + x_offset;
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOLNPAIR("(1) Park extruder ", int(active_extruder));
DEBUG_POS("Moving ParkPos", current_position);
@ -311,7 +311,7 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
// STEP 3
current_position[X_AXIS] += active_extruder ? -10 : 10; // move 10mm away from parked extruder
current_position.x += active_extruder ? -10 : 10; // move 10mm away from parked extruder
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOLNPGM("(3) Move near new extruder");
DEBUG_POS("Move away from parked extruder", current_position);
@ -329,10 +329,10 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
// STEP 5
current_position[X_AXIS] = grabpos + (new_tool ? -10 : 10);
current_position.x = grabpos + (new_tool ? -10 : 10);
fast_line_to_current(X_AXIS);
current_position[X_AXIS] = grabpos;
current_position.x = grabpos;
if (DEBUGGING(LEVELING)) {
planner.synchronize();
DEBUG_POS("(5) Unpark extruder", current_position);
@ -341,9 +341,9 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
// STEP 6
current_position[X_AXIS] = midpos
current_position.x = midpos
#if HAS_HOTEND_OFFSET
- hotend_offset[X_AXIS][new_tool]
- hotend_offset[new_tool].x
#endif
;
if (DEBUGGING(LEVELING)) {
@ -388,14 +388,14 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
if (DEBUGGING(LEVELING)) DEBUG_POS("Start ST Tool-Change", current_position);
current_position[X_AXIS] = placexpos;
current_position.x = placexpos;
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOLNPAIR("(1) Place old tool ", int(active_extruder));
DEBUG_POS("Move X SwitchPos", current_position);
}
fast_line_to_current(X_AXIS);
current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS - (SWITCHING_TOOLHEAD_Y_SECURITY);
current_position.y = SWITCHING_TOOLHEAD_Y_POS - (SWITCHING_TOOLHEAD_Y_SECURITY);
if (DEBUGGING(LEVELING)) {
planner.synchronize();
DEBUG_POS("Move Y SwitchPos + Security", current_position);
@ -409,7 +409,7 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
MOVE_SERVO(SWITCHING_TOOLHEAD_SERVO_NR, angles[1]);
safe_delay(500);
current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS;
current_position.y = SWITCHING_TOOLHEAD_Y_POS;
if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos", current_position);
slow_line_to_current(Y_AXIS);
@ -417,13 +417,13 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
planner.synchronize();
safe_delay(200);
current_position[Y_AXIS] -= SWITCHING_TOOLHEAD_Y_CLEAR;
current_position.y -= SWITCHING_TOOLHEAD_Y_CLEAR;
if (DEBUGGING(LEVELING)) DEBUG_POS("Move back Y clear", current_position);
fast_line_to_current(Y_AXIS); // move away from docked toolhead
// 3. Move to the new toolhead
current_position[X_AXIS] = grabxpos;
current_position.x = grabxpos;
if (DEBUGGING(LEVELING)) {
planner.synchronize();
DEBUG_ECHOLNPGM("(3) Move to new toolhead position");
@ -431,7 +431,7 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
}
fast_line_to_current(X_AXIS);
current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS - (SWITCHING_TOOLHEAD_Y_SECURITY);
current_position.y = SWITCHING_TOOLHEAD_Y_POS - (SWITCHING_TOOLHEAD_Y_SECURITY);
if (DEBUGGING(LEVELING)) {
planner.synchronize();
DEBUG_POS("Move Y SwitchPos + Security", current_position);
@ -440,7 +440,7 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
// 4. Grab and lock the new toolhead
current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS;
current_position.y = SWITCHING_TOOLHEAD_Y_POS;
if (DEBUGGING(LEVELING)) {
planner.synchronize();
DEBUG_ECHOLNPGM("(4) Grab and lock new toolhead");
@ -454,7 +454,7 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
MOVE_SERVO(SWITCHING_TOOLHEAD_SERVO_NR, angles[0]);
safe_delay(500);
current_position[Y_AXIS] -= SWITCHING_TOOLHEAD_Y_CLEAR;
current_position.y -= SWITCHING_TOOLHEAD_Y_CLEAR;
if (DEBUGGING(LEVELING)) DEBUG_POS("Move back Y clear", current_position);
fast_line_to_current(Y_AXIS); // Move away from docked toolhead
planner.synchronize(); // Always sync the final move
@ -486,33 +486,33 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
// 1. Move to switch position current toolhead
current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_CLEAR;
current_position.y = SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_CLEAR;
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOLNPAIR("(1) Place old tool ", int(active_extruder));
DEBUG_POS("Move Y SwitchPos + Security", current_position);
}
fast_line_to_current(Y_AXIS);
current_position[X_AXIS] = placexclear;
current_position.x = placexclear;
if (DEBUGGING(LEVELING)) {
planner.synchronize();
DEBUG_POS("Move X SwitchPos + Security", current_position);
}
fast_line_to_current(X_AXIS);
current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS;
current_position.y = SWITCHING_TOOLHEAD_Y_POS;
if (DEBUGGING(LEVELING)) {
planner.synchronize();
DEBUG_POS("Move Y SwitchPos", current_position);
}
fast_line_to_current(Y_AXIS);
current_position[X_AXIS] = placexpos;
current_position.x = placexpos;
if (DEBUGGING(LEVELING)) {
planner.synchronize();
DEBUG_POS("Move X SwitchPos", current_position);
}
planner.buffer_line(current_position, (planner.settings.max_feedrate_mm_s[X_AXIS] * 0.25), active_extruder);
line_to_current_position(planner.settings.max_feedrate_mm_s[X_AXIS] * 0.25f);
// 2. Release and place toolhead in the dock
@ -521,16 +521,16 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
DEBUG_ECHOLNPGM("(2) Release and Place Toolhead");
}
current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_RELEASE;
current_position.y = SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_RELEASE;
if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos + Release", current_position);
planner.buffer_line(current_position, (planner.settings.max_feedrate_mm_s[Y_AXIS] * 0.1), active_extruder);
line_to_current_position(planner.settings.max_feedrate_mm_s[Y_AXIS] * 0.1f);
current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_SECURITY;
current_position.y = SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_SECURITY;
if (DEBUGGING(LEVELING)) {
planner.synchronize();
DEBUG_POS("Move Y SwitchPos + Security", current_position);
}
planner.buffer_line(current_position, (planner.settings.max_feedrate_mm_s[Y_AXIS]), active_extruder);
line_to_current_position(planner.settings.max_feedrate_mm_s[Y_AXIS]);
// 3. Move to new toolhead position
@ -539,7 +539,7 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
DEBUG_ECHOLNPGM("(3) Move to new toolhead position");
}
current_position[X_AXIS] = grabxpos;
current_position.x = grabxpos;
if (DEBUGGING(LEVELING)) DEBUG_POS("Move to new toolhead X", current_position);
fast_line_to_current(X_AXIS);
@ -550,11 +550,11 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
DEBUG_ECHOLNPGM("(4) Grab new toolhead, move to security position");
}
current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_RELEASE;
current_position.y = SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_RELEASE;
if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos + Release", current_position);
planner.buffer_line(current_position, (planner.settings.max_feedrate_mm_s[Y_AXIS]), active_extruder);
line_to_current_position(planner.settings.max_feedrate_mm_s[Y_AXIS]);
current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS;
current_position.y = SWITCHING_TOOLHEAD_Y_POS;
if (DEBUGGING(LEVELING)) {
planner.synchronize();
DEBUG_POS("Move Y SwitchPos", current_position);
@ -563,11 +563,11 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
#if ENABLED(PRIME_BEFORE_REMOVE) && (SWITCHING_TOOLHEAD_PRIME_MM || SWITCHING_TOOLHEAD_RETRACT_MM)
#if SWITCHING_TOOLHEAD_PRIME_MM
current_position[E_AXIS] += SWITCHING_TOOLHEAD_PRIME_MM;
current_position.e += SWITCHING_TOOLHEAD_PRIME_MM;
planner.buffer_line(current_position, MMM_TO_MMS(SWITCHING_TOOLHEAD_PRIME_FEEDRATE), new_tool);
#endif
#if SWITCHING_TOOLHEAD_RETRACT_MM
current_position[E_AXIS] -= SWITCHING_TOOLHEAD_RETRACT_MM;
current_position.e -= SWITCHING_TOOLHEAD_RETRACT_MM;
planner.buffer_line(current_position, MMM_TO_MMS(SWITCHING_TOOLHEAD_RETRACT_FEEDRATE), new_tool);
#endif
#else
@ -575,13 +575,13 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
safe_delay(100); // Give switch time to settle
#endif
current_position[X_AXIS] = grabxclear;
current_position.x = grabxclear;
if (DEBUGGING(LEVELING)) DEBUG_POS("Move to new toolhead X + Security", current_position);
_line_to_current(X_AXIS, 0.1f);
planner.synchronize();
safe_delay(100); // Give switch time to settle
current_position[Y_AXIS] += SWITCHING_TOOLHEAD_Y_CLEAR;
current_position.y += SWITCHING_TOOLHEAD_Y_CLEAR;
if (DEBUGGING(LEVELING)) DEBUG_POS("Move back Y clear", current_position);
fast_line_to_current(Y_AXIS); // move away from docked toolhead
planner.synchronize(); // Always sync last tool-change move
@ -601,6 +601,7 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
constexpr float toolheadposx[] = SWITCHING_TOOLHEAD_X_POS;
const float placexpos = toolheadposx[active_extruder],
grabxpos = toolheadposx[new_tool];
const xyz_pos_t &hoffs = hotend_offset[active_extruder];
/**
* 1. Raise Z-Axis to give enough clearance
@ -618,7 +619,7 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
// 1. Raise Z-Axis to give enough clearance
current_position[Z_AXIS] += SWITCHING_TOOLHEAD_Z_HOP;
current_position.z += SWITCHING_TOOLHEAD_Z_HOP;
if (DEBUGGING(LEVELING)) DEBUG_POS("(1) Raise Z-Axis ", current_position);
fast_line_to_current(Z_AXIS);
@ -629,8 +630,8 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
SERIAL_ECHOLNPAIR("(2) Move near active extruder parking", active_extruder);
DEBUG_POS("Moving ParkPos", current_position);
}
current_position[X_AXIS] = hotend_offset[X_AXIS][active_extruder] + placexpos;
current_position[Y_AXIS] = hotend_offset[Y_AXIS][active_extruder] + SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_CLEAR;
current_position.set(hoffs.x + placexpos,
hoffs.y + SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_CLEAR);
fast_line_to_current(X_AXIS);
// 3. Move gently to park position of active extruder
@ -641,7 +642,7 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
DEBUG_POS("Moving ParkPos", current_position);
}
current_position[Y_AXIS] -= SWITCHING_TOOLHEAD_Y_CLEAR;
current_position.y -= SWITCHING_TOOLHEAD_Y_CLEAR;
slow_line_to_current(Y_AXIS);
// 4. Disengage magnetic field, wait for delay
@ -657,16 +658,15 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
DEBUG_POS("Moving ParkPos", current_position);
}
current_position[Y_AXIS] += SWITCHING_TOOLHEAD_Y_CLEAR;
current_position.y += SWITCHING_TOOLHEAD_Y_CLEAR;
slow_line_to_current(Y_AXIS);
current_position[X_AXIS] = hotend_offset[X_AXIS][active_extruder] + grabxpos;
current_position[Y_AXIS] = hotend_offset[Y_AXIS][active_extruder] + SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_CLEAR;
current_position.set(hoffs.x + grabxpos,
hoffs.y + SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_CLEAR);
fast_line_to_current(X_AXIS);
// 6. Move gently to park position of new extruder
current_position[Y_AXIS] -= SWITCHING_TOOLHEAD_Y_CLEAR;
current_position.y -= SWITCHING_TOOLHEAD_Y_CLEAR;
if (DEBUGGING(LEVELING)) {
planner.synchronize();
DEBUG_ECHOLNPGM("(6) Move near new extruder");
@ -681,7 +681,7 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
// 8. Unpark extruder
current_position[Y_AXIS] += SWITCHING_TOOLHEAD_Y_CLEAR;
current_position.y += SWITCHING_TOOLHEAD_Y_CLEAR;
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(8) Unpark extruder");
slow_line_to_current(X_AXIS);
planner.synchronize(); // Always sync the final move
@ -689,7 +689,7 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
// 9. Apply Z hotend offset to current position
if (DEBUGGING(LEVELING)) DEBUG_POS("(9) Applying Z-offset", current_position);
current_position[Z_AXIS] += hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][new_tool];
current_position.z += hoffs.z - hotend_offset[new_tool].z;
if (DEBUGGING(LEVELING)) DEBUG_POS("EMST Tool-Change done.", current_position);
}
@ -719,14 +719,15 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
const float xhome = x_home_pos(active_extruder);
if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE
&& IsRunning()
&& (delayed_move_time || current_position[X_AXIS] != xhome) && ! no_move
&& IsRunning() && !no_move
&& (delayed_move_time || current_position.x != xhome)
) {
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("MoveX to ", xhome);
// Park old head
planner.buffer_line(xhome, current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], planner.settings.max_feedrate_mm_s[X_AXIS], active_extruder);
current_position.x = xhome;
line_to_current_position(planner.settings.max_feedrate_mm_s[X_AXIS]);
planner.synchronize();
}
@ -741,13 +742,13 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
switch (dual_x_carriage_mode) {
case DXC_FULL_CONTROL_MODE:
// New current position is the position of the activated extruder
current_position[X_AXIS] = inactive_extruder_x_pos;
current_position.x = inactive_extruder_x_pos;
// Save the inactive extruder's position (from the old current_position)
inactive_extruder_x_pos = destination[X_AXIS];
inactive_extruder_x_pos = destination.x;
break;
case DXC_AUTO_PARK_MODE:
// record current raised toolhead position for use by unpark
COPY(raised_parked_position, current_position);
raised_parked_position = current_position;
active_extruder_parked = true;
delayed_move_time = 0;
break;
@ -852,7 +853,7 @@ void tool_change(const uint8_t new_tool, bool no_move/*=false*/) {
#if ENABLED(ADVANCED_PAUSE_FEATURE)
do_pause_e_move(-toolchange_settings.swap_length, MMM_TO_MMS(toolchange_settings.retract_speed));
#else
current_position[E_AXIS] -= toolchange_settings.swap_length / planner.e_factor[old_tool];
current_position.e -= toolchange_settings.swap_length / planner.e_factor[old_tool];
planner.buffer_line(current_position, MMM_TO_MMS(toolchange_settings.retract_speed), old_tool);
planner.synchronize();
#endif
@ -886,19 +887,18 @@ void tool_change(const uint8_t new_tool, bool no_move/*=false*/) {
#endif
#endif
set_destination_from_current();
destination = current_position;
#if DISABLED(SWITCHING_NOZZLE)
if (can_move_away) {
// Do a small lift to avoid the workpiece in the move back (below)
current_position[Z_AXIS] += toolchange_settings.z_raise;
current_position.z += toolchange_settings.z_raise;
#if HAS_SOFTWARE_ENDSTOPS
NOMORE(current_position[Z_AXIS], soft_endstop[Z_AXIS].max);
NOMORE(current_position.z, soft_endstop.max.z);
#endif
fast_line_to_current(Z_AXIS);
#if ENABLED(TOOLCHANGE_PARK)
current_position[X_AXIS] = toolchange_settings.change_point.x;
current_position[Y_AXIS] = toolchange_settings.change_point.y;
current_position = toolchange_settings.change_point;
#endif
planner.buffer_line(current_position, feedrate_mm_s, old_tool);
planner.synchronize();
@ -906,15 +906,12 @@ void tool_change(const uint8_t new_tool, bool no_move/*=false*/) {
#endif
#if HAS_HOTEND_OFFSET
xyz_pos_t diff = hotend_offset[new_tool];
#if ENABLED(DUAL_X_CARRIAGE)
constexpr float xdiff = 0;
#else
const float xdiff = hotend_offset[X_AXIS][new_tool] - hotend_offset[X_AXIS][old_tool];
diff.x = 0;
#endif
const float ydiff = hotend_offset[Y_AXIS][new_tool] - hotend_offset[Y_AXIS][old_tool],
zdiff = hotend_offset[Z_AXIS][new_tool] - hotend_offset[Z_AXIS][old_tool];
#else
constexpr float xdiff = 0, ydiff = 0, zdiff = 0;
constexpr xyz_pos_t diff{0};
#endif
#if ENABLED(DUAL_X_CARRIAGE)
@ -932,30 +929,28 @@ void tool_change(const uint8_t new_tool, bool no_move/*=false*/) {
#elif ENABLED(SWITCHING_NOZZLE) && !SWITCHING_NOZZLE_TWO_SERVOS // Switching Nozzle (single servo)
// Raise by a configured distance to avoid workpiece, except with
// SWITCHING_NOZZLE_TWO_SERVOS, as both nozzles will lift instead.
current_position[Z_AXIS] += _MAX(-zdiff, 0.0) + toolchange_settings.z_raise;
current_position.z += _MAX(-zdiff, 0.0) + toolchange_settings.z_raise;
#if HAS_SOFTWARE_ENDSTOPS
NOMORE(current_position[Z_AXIS], soft_endstop[Z_AXIS].max);
NOMORE(current_position.z, soft_endstop.max.z);
#endif
if (!no_move) fast_line_to_current(Z_AXIS);
move_nozzle_servo(new_tool);
#endif
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Offset Tool XY by { ", xdiff, ", ", ydiff, ", ", zdiff, " }");
#if DISABLED(DUAL_X_CARRIAGE)
active_extruder = new_tool; // Set the new active extruder
#endif
// The newly-selected extruder XY is actually at...
current_position[X_AXIS] += xdiff;
current_position[Y_AXIS] += ydiff;
current_position[Z_AXIS] += zdiff;
// Set the new active extruder if not already done in tool specific function above
active_extruder = new_tool;
// The newly-selected extruder XYZ is actually at...
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Offset Tool XY by { ", diff.x, ", ", diff.y, ", ", diff.z, " }");
current_position += diff;
// Tell the planner the new "current position"
sync_plan_position();
#if ENABLED(DELTA)
//LOOP_XYZ(i) update_software_endstops(i); // or modify the constrain function
const bool safe_to_move = current_position[Z_AXIS] < delta_clip_start_height - 1;
const bool safe_to_move = current_position.z < delta_clip_start_height - 1;
#else
constexpr bool safe_to_move = true;
#endif
@ -985,21 +980,21 @@ void tool_change(const uint8_t new_tool, bool no_move/*=false*/) {
do_pause_e_move(toolchange_settings.swap_length, MMM_TO_MMS(toolchange_settings.prime_speed));
do_pause_e_move(toolchange_settings.extra_prime, ADVANCED_PAUSE_PURGE_FEEDRATE);
#else
current_position[E_AXIS] += toolchange_settings.swap_length / planner.e_factor[new_tool];
current_position.e += toolchange_settings.swap_length / planner.e_factor[new_tool];
planner.buffer_line(current_position, MMM_TO_MMS(toolchange_settings.prime_speed), new_tool);
current_position[E_AXIS] += toolchange_settings.extra_prime / planner.e_factor[new_tool];
current_position.e += toolchange_settings.extra_prime / planner.e_factor[new_tool];
planner.buffer_line(current_position, MMM_TO_MMS(toolchange_settings.prime_speed * 0.2f), new_tool);
#endif
planner.synchronize();
planner.set_e_position_mm((destination[E_AXIS] = current_position[E_AXIS] = current_position[E_AXIS] - (TOOLCHANGE_FIL_EXTRA_PRIME)));
planner.set_e_position_mm((destination.e = current_position.e = current_position.e - (TOOLCHANGE_FIL_EXTRA_PRIME)));
}
#endif
// Prevent a move outside physical bounds
#if ENABLED(MAGNETIC_SWITCHING_TOOLHEAD)
// If the original position is within tool store area, go to X origin at once
if (destination[Y_AXIS] < SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_CLEAR) {
current_position[X_AXIS] = 0;
if (destination.y < SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_CLEAR) {
current_position.x = 0;
planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[X_AXIS], new_tool);
planner.synchronize();
}
@ -1012,7 +1007,7 @@ void tool_change(const uint8_t new_tool, bool no_move/*=false*/) {
#if ENABLED(TOOLCHANGE_NO_RETURN)
// Just move back down
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Move back Z only");
do_blocking_move_to_z(destination[Z_AXIS], planner.settings.max_feedrate_mm_s[Z_AXIS]);
do_blocking_move_to_z(destination.z, planner.settings.max_feedrate_mm_s[Z_AXIS]);
#else
// Move back to the original (or adjusted) position
if (DEBUGGING(LEVELING)) DEBUG_POS("Move back", destination);
@ -1028,7 +1023,7 @@ void tool_change(const uint8_t new_tool, bool no_move/*=false*/) {
#if ENABLED(SWITCHING_NOZZLE)
else {
// Move back down. (Including when the new tool is higher.)
do_blocking_move_to_z(destination[Z_AXIS], planner.settings.max_feedrate_mm_s[Z_AXIS]);
do_blocking_move_to_z(destination.z, planner.settings.max_feedrate_mm_s[Z_AXIS]);
}
#endif