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Clean up tool-change syncs (#14666)

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Scott Lahteine 2019-07-18 02:17:46 -05:00 committed by GitHub
parent 42b5ccafc9
commit fac0e63058
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1 changed files with 35 additions and 41 deletions
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Marlin/src/module/tool_change.cpp
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@ -486,98 +486,92 @@ inline void fast_line_to_current(const AxisEnum fr_axis) {
// 1. Move to switch position current toolhead // 1. Move to switch position current toolhead
current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_CLEAR; current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_CLEAR;
if (DEBUGGING(LEVELING)) { if (DEBUGGING(LEVELING)) {
SERIAL_ECHOLNPAIR("(1) Place old tool ", int(active_extruder)); SERIAL_ECHOLNPAIR("(1) Place old tool ", int(active_extruder));
DEBUG_POS("Move Y SwitchPos + Security", current_position); DEBUG_POS("Move Y SwitchPos + Security", current_position);
} }
planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[Y_AXIS], active_extruder); planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[Y_AXIS], active_extruder);
planner.synchronize();
current_position[X_AXIS] = placexpos + SWITCHING_TOOLHEAD_X_SECURITY; current_position[X_AXIS] = placexpos + SWITCHING_TOOLHEAD_X_SECURITY;
if (DEBUGGING(LEVELING)) {
if (DEBUGGING(LEVELING)) DEBUG_POS("Move X SwitchPos + Security", current_position); planner.synchronize();
DEBUG_POS("Move X SwitchPos + Security", current_position);
}
planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[X_AXIS], active_extruder); planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[X_AXIS], active_extruder);
planner.synchronize();
current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS; current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS;
if (DEBUGGING(LEVELING)) {
if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos", current_position); planner.synchronize();
DEBUG_POS("Move Y SwitchPos", current_position);
}
planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[Y_AXIS], active_extruder); planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[Y_AXIS], active_extruder);
planner.synchronize();
current_position[X_AXIS] = placexpos; current_position[X_AXIS] = placexpos;
if (DEBUGGING(LEVELING)) {
if (DEBUGGING(LEVELING)) DEBUG_POS("Move X SwitchPos", current_position); 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); planner.buffer_line(current_position, (planner.settings.max_feedrate_mm_s[X_AXIS] * 0.25), active_extruder);
planner.synchronize();
// 2. Release and place toolhead in the dock // 2. Release and place toolhead in the dock
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("(2) Release and Place Toolhead"); if (DEBUGGING(LEVELING)) {
planner.synchronize();
SERIAL_ECHOLNPGM("(2) Release and Place Toolhead");
}
current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_RELEASE; current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_RELEASE;
if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos + Release", current_position); 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); planner.buffer_line(current_position, (planner.settings.max_feedrate_mm_s[Y_AXIS] * 0.1), active_extruder);
planner.synchronize();
current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_SECURITY; current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_SECURITY;
if (DEBUGGING(LEVELING)) {
if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos + Security", current_position); 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); planner.buffer_line(current_position, (planner.settings.max_feedrate_mm_s[Y_AXIS]), active_extruder);
planner.synchronize();
// 3. Move to new toolhead position // 3. Move to new toolhead position
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("(3) Move to new toolhead position"); if (DEBUGGING(LEVELING)) {
planner.synchronize();
SERIAL_ECHOLNPGM("(3) Move to new toolhead position");
}
current_position[X_AXIS] = grabxpos; current_position[X_AXIS] = grabxpos;
if (DEBUGGING(LEVELING)) DEBUG_POS("Move to new toolhead X", current_position); if (DEBUGGING(LEVELING)) DEBUG_POS("Move to new toolhead X", current_position);
planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[X_AXIS], active_extruder); planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[X_AXIS], active_extruder);
planner.synchronize();
// 4. Grab the new toolhead and move to security position // 4. Grab the new toolhead and move to security position
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("(4) Grab new toolhead and move to security position"); if (DEBUGGING(LEVELING)) {
planner.synchronize();
SERIAL_ECHOLNPGM("(4) Grab new toolhead and move to security position");
}
current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_RELEASE; current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_RELEASE;
if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos + Release", current_position); 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); planner.buffer_line(current_position, (planner.settings.max_feedrate_mm_s[Y_AXIS]), active_extruder);
planner.synchronize();
current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS; current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS;
if (DEBUGGING(LEVELING)) {
if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos", current_position); planner.synchronize();
DEBUG_POS("Move Y SwitchPos", current_position);
}
planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[Y_AXIS] * 0.2, active_extruder); planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[Y_AXIS] * 0.2, active_extruder);
planner.synchronize(); planner.synchronize();
safe_delay(100); safe_delay(100); // Give switch time to settle
current_position[X_AXIS] = grabxpos + SWITCHING_TOOLHEAD_X_SECURITY; current_position[X_AXIS] = grabxpos + SWITCHING_TOOLHEAD_X_SECURITY;
if (DEBUGGING(LEVELING)) DEBUG_POS("Move to new toolhead X + Security", current_position); if (DEBUGGING(LEVELING)) DEBUG_POS("Move to new toolhead X + Security", current_position);
planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[X_AXIS] * 0.1, active_extruder); planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[X_AXIS] * 0.1, active_extruder);
planner.synchronize(); planner.synchronize();
safe_delay(100); safe_delay(100); // Give switch time to settle
current_position[Y_AXIS] += SWITCHING_TOOLHEAD_Y_CLEAR; current_position[Y_AXIS] += SWITCHING_TOOLHEAD_Y_CLEAR;
if (DEBUGGING(LEVELING)) DEBUG_POS("Move back Y clear", current_position); if (DEBUGGING(LEVELING)) DEBUG_POS("Move back Y clear", current_position);
planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[Y_AXIS], active_extruder); // move away from docked toolhead planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[Y_AXIS], active_extruder); // move away from docked toolhead
planner.synchronize(); planner.synchronize(); // Always sync last tool-change move
} }
#elif ENABLED(ELECTROMAGNETIC_SWITCHING_TOOLHEAD) #elif ENABLED(ELECTROMAGNETIC_SWITCHING_TOOLHEAD)