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Added support for extruder offset handling

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The extruder offset can be specified in the configuration
file or adjusted on the fly using the "M218 T# X# Y#" command.
The EEPROM support is not yet merged in.
The "T#" command can take option "F#" that specifies the feedrate
at which the printing head should be re-positioned. If not
specified the re-positioning move is not preformed immediately,
but the coordinates are adjusted for the printer to properly
position the head when the next movement happens.
This commit is contained in:
Denis B
2013-02-04 23:05:45 -05:00
parent 49b2ddc8c1
commit 70871715e4
3 changed files with 93 additions and 11 deletions
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78
Marlin/Marlin_main.cpp
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@@ -113,6 +113,7 @@
// M207 - set retract length S[positive mm] F[feedrate mm/sec] Z[additional zlift/hop]
// M208 - set recover=unretract length S[positive mm surplus to the M207 S*] F[feedrate mm/sec]
// M209 - S<1=true/0=false> enable automatic retract detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction.
// M218 - set hotend offset (in mm): T<extruder_number> X<offset_on_X> Y<offset_on_Y>
// M220 S<factor in percent>- set speed factor override percentage
// M221 S<factor in percent>- set extrude factor override percentage
// M240 - Trigger a camera to take a photograph
@@ -155,6 +156,12 @@ float current_position[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0 };
float add_homeing[3]={0,0,0};
float min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
float max_pos[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
// Extruder offset, only in XY plane
float extruder_offset[2][EXTRUDERS] = {
#if defined(EXTRUDER_OFFSET_X) && defined(EXTRUDER_OFFSET_Y)
EXTRUDER_OFFSET_X, EXTRUDER_OFFSET_Y
#endif
};
uint8_t active_extruder = 0;
int fanSpeed=0;
@@ -1353,7 +1360,6 @@ void process_commands()
retract_recover_feedrate = code_value() ;
}
}break;
case 209: // M209 - S<1=true/0=false> enable automatic retract detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction.
{
if(code_seen('S'))
@@ -1372,7 +1378,31 @@ void process_commands()
}
}break;
#endif
#endif // FWRETRACT
case 218: // M218 - set hotend offset (in mm), T<extruder_number> X<offset_on_X> Y<offset_on_Y>
{
if(setTargetedHotend(218)){
break;
}
if(code_seen('X'))
{
extruder_offset[X_AXIS][tmp_extruder] = code_value();
}
if(code_seen('Y'))
{
extruder_offset[Y_AXIS][tmp_extruder] = code_value();
}
SERIAL_ECHO_START;
SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
for(tmp_extruder = 0; tmp_extruder < EXTRUDERS; tmp_extruder++)
{
SERIAL_ECHO(" ");
SERIAL_ECHO(extruder_offset[X_AXIS][tmp_extruder]);
SERIAL_ECHO(",");
SERIAL_ECHO(extruder_offset[Y_AXIS][tmp_extruder]);
}
SERIAL_ECHOLN("");
}break;
case 220: // M220 S<factor in percent>- set speed factor override percentage
{
if(code_seen('S'))
@@ -1499,13 +1529,13 @@ void process_commands()
{
Config_PrintSettings();
}
break;
#ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
case 540:
{
if(code_seen('S')) abort_on_endstop_hit = code_value() > 0;
}
break;
break;
#ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
case 540:
{
if(code_seen('S')) abort_on_endstop_hit = code_value() > 0;
}
break;
#endif
#ifdef FILAMENTCHANGEENABLE
case 600: //Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
@@ -1696,7 +1726,32 @@ void process_commands()
SERIAL_ECHOLN(MSG_INVALID_EXTRUDER);
}
else {
active_extruder = tmp_extruder;
boolean make_move = false;
if(code_seen('F')) {
make_move = true;
next_feedrate = code_value();
if(next_feedrate > 0.0) {
feedrate = next_feedrate;
}
}
if(tmp_extruder != active_extruder) {
// Save current position to return to after applying extruder offset
memcpy(destination, current_position, sizeof(destination));
// Offset extruder (only by XY)
int i;
for(i = 0; i < 2; i++) {
current_position[i] = current_position[i] -
extruder_offset[i][active_extruder] +
extruder_offset[i][tmp_extruder];
}
// Set the new active extruder and position
active_extruder = tmp_extruder;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
// Move to the old position if 'F' was in the parameters
if(make_move && Stopped == false) {
prepare_move();
}
}
SERIAL_ECHO_START;
SERIAL_ECHO(MSG_ACTIVE_EXTRUDER);
SERIAL_PROTOCOLLN((int)active_extruder);
@@ -2059,6 +2114,9 @@ bool setTargetedHotend(int code){
case 109:
SERIAL_ECHO(MSG_M109_INVALID_EXTRUDER);
break;
case 218:
SERIAL_ECHO(MSG_M218_INVALID_EXTRUDER);
break;
}
SERIAL_ECHOLN(tmp_extruder);
return true;