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Delta support for multiple hotends with offsets (#10118)

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Scott Lahteine
2018-03-16 00:46:42 -05:00
committed by GitHub
parent 899b4df7a3
commit a6feb58837
7 changed files with 46 additions and 15 deletions
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17
Marlin/src/module/tool_change.cpp
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@ -382,7 +382,7 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
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 (destination copied from current_position earlier)
// 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);
move_nozzle_servo(tmp_extruder);
@ -492,11 +492,24 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
// Tell the planner the new "current position"
SYNC_PLAN_POSITION_KINEMATIC();
#if ENABLED(DELTA)
//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;
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
constexpr bool safe_to_move = true;
#endif
// Move to the "old position" (move the extruder into place)
#if ENABLED(SWITCHING_NOZZLE)
destination[Z_AXIS] += z_diff; // Include the Z restore with the "move back"
#endif
if (!no_move && IsRunning()) {
if (safe_to_move && !no_move && IsRunning()) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("Move back", destination);
#endif