[2.0.x] SWITCHING_TOOLHEAD (#11623)
This commit is contained in:
Kevin
Scott Lahteine
@ -33,7 +33,7 @@
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#include "../gcode/gcode.h" // for dwell()
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#endif
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#if ENABLED(SWITCHING_EXTRUDER) || ENABLED(SWITCHING_NOZZLE)
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#if ENABLED(SWITCHING_EXTRUDER) || ENABLED(SWITCHING_NOZZLE) || ENABLED(SWITCHING_TOOLHEAD)
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#include "../module/servo.h"
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#endif
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@ -213,6 +213,129 @@
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#endif // PARKING_EXTRUDER
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#if ENABLED(SWITCHING_TOOLHEAD)
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inline void switching_toolhead_tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool no_move/*=false*/) {
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if (no_move) return;
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constexpr uint16_t angles[2] = SWITCHING_TOOLHEAD_SERVO_ANGLES;
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const float toolheadposx[] = SWITCHING_TOOLHEAD_X_POS,
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placexpos = toolheadposx[active_extruder],
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grabxpos = toolheadposx[tmp_extruder];
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/**
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* 1. Raise Z to give enough clearance
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* 2. Move to switch position of current toolhead
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* 3. Unlock tool and drop it in the dock
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* 4. Move to the new toolhead
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* 5. Grab and lock the new toolhead
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* 6. Apply the z-offset of the new toolhead
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*/
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// STEP 1
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("Starting Toolhead change", current_position);
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#endif
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current_position[Z_AXIS] += SWITCHING_TOOLHEAD_SECURITY_RAISE;
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("(1) Raise Z-Axis", current_position);
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#endif
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planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
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planner.synchronize();
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// STEP 2
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current_position[X_AXIS] = placexpos;
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) {
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SERIAL_ECHOLNPAIR("(2) Place old tool ", int(active_extruder));
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DEBUG_POS("Move X SwitchPos", current_position);
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}
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#endif
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planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
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planner.synchronize();
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current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS - SWITCHING_TOOLHEAD_Y_SECURITY;
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos + Security", current_position);
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#endif
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planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Y_AXIS], active_extruder);
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planner.synchronize();
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// STEP 3
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("(3) Unlock and Place Toolhead");
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#endif
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MOVE_SERVO(SWITCHING_TOOLHEAD_SERVO_NR, angles[1]);
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safe_delay(500);
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current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS;
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos", current_position);
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#endif
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planner.buffer_line_kinematic(current_position,(planner.max_feedrate_mm_s[Y_AXIS] * 0.5), active_extruder);
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planner.synchronize();
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safe_delay(200);
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current_position[Y_AXIS] -= SWITCHING_TOOLHEAD_Y_CLEAR;
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("Move back Y clear", current_position);
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#endif
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planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Y_AXIS], active_extruder); // move away from docked toolhead
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planner.synchronize();
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// STEP 4
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("(4) Move to new toolhead position");
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#endif
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current_position[X_AXIS] = grabxpos;
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("Move to new toolhead X", current_position);
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#endif
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planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
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planner.synchronize();
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current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS - SWITCHING_TOOLHEAD_Y_SECURITY;
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos + Security", current_position);
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#endif
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planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Y_AXIS], active_extruder);
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planner.synchronize();
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// STEP 5
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("(5) Grab and lock new toolhead ");
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#endif
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current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS;
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos", current_position);
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#endif
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planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Y_AXIS] * 0.5, active_extruder);
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planner.synchronize();
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safe_delay(200);
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MOVE_SERVO(SWITCHING_TOOLHEAD_SERVO_NR, angles[0]);
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safe_delay(500);
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current_position[Y_AXIS] -= SWITCHING_TOOLHEAD_Y_CLEAR;
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("Move back Y clear", current_position);
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#endif
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planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Y_AXIS], active_extruder); // move away from docked toolhead
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planner.synchronize();
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// STEP 6
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current_position[Z_AXIS] += hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder];
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("(6) Apply Z offset", current_position);
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#endif
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Toolhead change done.");
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#endif
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}
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#endif // SWITCHING_TOOLHEAD
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inline void invalid_extruder_error(const uint8_t e) {
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SERIAL_ECHO_START();
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SERIAL_CHAR('T');
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@ -386,19 +509,24 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
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#else // !DUAL_X_CARRIAGE
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set_destination_from_current();
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#if ENABLED(PARKING_EXTRUDER) // Dual Parking extruder
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parking_extruder_tool_change(tmp_extruder, no_move);
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#endif
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const float xdiff = hotend_offset[X_AXIS][tmp_extruder] - hotend_offset[X_AXIS][active_extruder],
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ydiff = hotend_offset[Y_AXIS][tmp_extruder] - hotend_offset[Y_AXIS][active_extruder],
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zdiff = hotend_offset[Z_AXIS][tmp_extruder] - hotend_offset[Z_AXIS][active_extruder];
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ydiff = hotend_offset[Y_AXIS][tmp_extruder] - hotend_offset[Y_AXIS][active_extruder];
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#if ENABLED(SWITCHING_NOZZLE)
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// Always raise by at least 1 to avoid workpiece
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current_position[Z_AXIS] += (zdiff < 0.0 ? -zdiff : 0.0) + 1;
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planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
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move_nozzle_servo(tmp_extruder);
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#if ENABLED(PARKING_EXTRUDER) // Dual Parking extruder
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constexpr float zdiff = 0;
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parking_extruder_tool_change(tmp_extruder, no_move);
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#elif ENABLED(SWITCHING_TOOLHEAD) // Switching Toolhead
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constexpr float zdiff = 0;
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switching_toolhead_tool_change(tmp_extruder, fr_mm_s, no_move);
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#else
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const float zdiff = hotend_offset[Z_AXIS][tmp_extruder] - hotend_offset[Z_AXIS][active_extruder];
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#if ENABLED(SWITCHING_NOZZLE)
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// Always raise by at least 1 to avoid workpiece
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current_position[Z_AXIS] += MAX(-zdiff, 0.0) + 1;
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planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
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move_nozzle_servo(tmp_extruder);
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#endif
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#endif
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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