bissen21/Marlin_Firmware
1
0
Fork 0
Code Issues Pull Requests Projects Releases 4 Wiki Activity

Enhance IDEX toolchange auto-return w/ no park, full control (#14117)

Browse Source
This commit is contained in:
InsanityAutomation
2019-06-23 21:00:48 -04:00
committed by Scott Lahteine
parent 3d9d72e8db
commit aa0383a83b
92 changed files with 137 additions and 42 deletions
Download Patch File Download Diff File Expand all files Collapse all files

65
Marlin/src/module/tool_change.cpp
View File

@ -365,7 +365,7 @@ inline void fast_line_to_current(const AxisEnum fr_axis) {
#if ENABLED(SWITCHING_TOOLHEAD)
inline void switching_toolhead_tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool no_move/*=false*/) {
inline void switching_toolhead_tool_change(const uint8_t tmp_extruder, bool no_move/*=false*/) {
if (no_move) return;
constexpr uint16_t angles[2] = SWITCHING_TOOLHEAD_SERVO_ANGLES;
@ -469,7 +469,7 @@ inline void fast_line_to_current(const AxisEnum fr_axis) {
#if ENABLED(MAGNETIC_SWITCHING_TOOLHEAD)
inline void magnetic_switching_toolhead_tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool no_move/*=false*/) {
inline void magnetic_switching_toolhead_tool_change(const uint8_t tmp_extruder, bool no_move/*=false*/) {
if (no_move) return;
const float toolheadposx[] = SWITCHING_TOOLHEAD_X_POS,
@ -653,7 +653,7 @@ inline void invalid_extruder_error(const uint8_t e) {
* Perform a tool-change, which may result in moving the
* previous tool out of the way and the new tool into place.
*/
void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool no_move/*=false*/) {
void tool_change(const uint8_t tmp_extruder, bool no_move/*=false*/) {
#if ENABLED(MAGNETIC_SWITCHING_TOOLHEAD)
if (tmp_extruder == active_extruder) return;
@ -661,7 +661,7 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
#if ENABLED(MIXING_EXTRUDER)
UNUSED(fr_mm_s); UNUSED(no_move);
UNUSED(no_move);
if (tmp_extruder >= MIXING_VIRTUAL_TOOLS)
return invalid_extruder_error(tmp_extruder);
@ -673,13 +673,13 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
#elif ENABLED(PRUSA_MMU2)
UNUSED(fr_mm_s); UNUSED(no_move);
UNUSED(no_move);
mmu2.tool_change(tmp_extruder);
#elif EXTRUDERS < 2
UNUSED(fr_mm_s); UNUSED(no_move);
UNUSED(no_move);
if (tmp_extruder) invalid_extruder_error(tmp_extruder);
return;
@ -702,21 +702,25 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
if (tmp_extruder >= EXTRUDERS)
return invalid_extruder_error(tmp_extruder);
if (!no_move && (!all_axes_homed()
#if ENABLED(DUAL_X_CARRIAGE)
|| dual_x_carriage_mode == DXC_FULL_CONTROL_MODE
#endif
)) {
if (!no_move && !all_axes_homed()) {
no_move = true;
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("No move on toolchange");
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("No move (not homed)");
}
#if HAS_LCD_MENU
ui.return_to_status();
#endif
#if ENABLED(DUAL_X_CARRIAGE)
const bool idex_full_control = dual_x_carriage_mode == DXC_FULL_CONTROL_MODE;
#else
constexpr bool idex_full_control = false;
#endif
const bool can_move_away = !no_move && !idex_full_control;
#if ENABLED(TOOLCHANGE_FILAMENT_SWAP)
const bool should_swap = !no_move && toolchange_settings.swap_length;
const bool should_swap = can_move_away && toolchange_settings.swap_length;
#if ENABLED(PREVENT_COLD_EXTRUSION)
const bool too_cold = !DEBUGGING(DRYRUN) && (thermalManager.targetTooColdToExtrude(active_extruder) || thermalManager.targetTooColdToExtrude(tmp_extruder));
#else
@ -736,6 +740,7 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
#else
current_position[E_AXIS] -= toolchange_settings.swap_length / planner.e_factor[active_extruder];
planner.buffer_line(current_position, MMM_TO_MMS(toolchange_settings.retract_speed), active_extruder);
planner.synchronize();
#endif
}
}
@ -747,8 +752,7 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
raise_nozzle(active_extruder);
#endif
const float old_feedrate_mm_s = fr_mm_s > 0.0 ? fr_mm_s : feedrate_mm_s;
feedrate_mm_s = fr_mm_s > 0.0 ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S;
REMEMBER(fr, feedrate_mm_s, XY_PROBE_FEEDRATE_MM_S);
#if HAS_SOFTWARE_ENDSTOPS
#if HAS_HOTEND_OFFSET
@ -765,8 +769,8 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
set_destination_from_current();
if (!no_move) {
#if DISABLED(SWITCHING_NOZZLE)
#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;
#if HAS_SOFTWARE_ENDSTOPS
@ -778,9 +782,9 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
current_position[Y_AXIS] = toolchange_settings.change_point.y;
#endif
planner.buffer_line(current_position, feedrate_mm_s, active_extruder);
#endif
planner.synchronize();
}
planner.synchronize();
}
#endif
#if HAS_HOTEND_OFFSET
#if ENABLED(DUAL_X_CARRIAGE)
@ -801,9 +805,9 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
#elif ENABLED(MAGNETIC_PARKING_EXTRUDER) // Magnetic Parking extruder
magnetic_parking_extruder_tool_change(tmp_extruder);
#elif ENABLED(SWITCHING_TOOLHEAD) // Switching Toolhead
switching_toolhead_tool_change(tmp_extruder, fr_mm_s, no_move);
switching_toolhead_tool_change(tmp_extruder, no_move);
#elif ENABLED(MAGNETIC_SWITCHING_TOOLHEAD) // Magnetic Switching Toolhead
magnetic_switching_toolhead_tool_change(tmp_extruder, fr_mm_s, no_move);
magnetic_switching_toolhead_tool_change(tmp_extruder, no_move);
#elif ENABLED(SWITCHING_NOZZLE) && !SWITCHING_NOZZLE_TWO_SERVOS
// Raise by a configured distance to avoid workpiece, except with
// SWITCHING_NOZZLE_TWO_SERVOS, as both nozzles will lift instead.
@ -837,7 +841,6 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
// Return to position and lower again
if (safe_to_move && !no_move && IsRunning()) {
if (DEBUGGING(LEVELING)) DEBUG_POS("Move back", destination);
#if ENABLED(SINGLENOZZLE)
#if FAN_COUNT > 0
@ -884,13 +887,23 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
apply_motion_limits(destination);
#endif
// Move back to the original (or tweaked) position
do_blocking_move_to(destination);
// Should the nozzle move back to the old position?
if (can_move_away) {
#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]);
#else
// Move back to the original (or adjusted) position
if (DEBUGGING(LEVELING)) DEBUG_POS("Move back", destination);
do_blocking_move_to(destination);
#endif
}
else if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Move back skipped");
#if ENABLED(DUAL_X_CARRIAGE)
active_extruder_parked = false;
#endif
feedrate_mm_s = old_feedrate_mm_s;
}
#if ENABLED(SWITCHING_NOZZLE)
else {

2
Marlin/src/module/tool_change.h
View File

@ -96,4 +96,4 @@
* Perform a tool-change, which may result in moving the
* previous tool out of the way and the new tool into place.
*/
void tool_change(const uint8_t tmp_extruder, const float fr_mm_s=0.0, bool no_move=false);
void tool_change(const uint8_t tmp_extruder, bool no_move=false);