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Improve retract() for G10/G11/autoretract

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This commit is contained in:
Scott Lahteine
2017-07-17 22:01:41 -05:00
parent 423b0f3a1e
commit fee696db5d
3 changed files with 185 additions and 127 deletions
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161
Marlin/Marlin_main.cpp
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@@ -557,20 +557,22 @@ static uint8_t target_extruder;
baricuda_e_to_p_pressure = 0;
#endif
#if ENABLED(FWRETRACT)
bool autoretract_enabled = false;
bool retracted[EXTRUDERS] = { false };
bool retracted_swap[EXTRUDERS] = { false };
float retract_length = RETRACT_LENGTH;
float retract_length_swap = RETRACT_LENGTH_SWAP;
float retract_feedrate_mm_s = RETRACT_FEEDRATE;
float retract_zlift = RETRACT_ZLIFT;
float retract_recover_length = RETRACT_RECOVER_LENGTH;
float retract_recover_length_swap = RETRACT_RECOVER_LENGTH_SWAP;
float retract_recover_feedrate_mm_s = RETRACT_RECOVER_FEEDRATE;
#if ENABLED(FWRETRACT) // Initialized by settings.load()...
bool autoretract_enabled, // M209 S - Autoretract switch
retracted[EXTRUDERS] = { false }; // Which extruders are currently retracted
float retract_length, // M207 S - G10 Retract length
retract_feedrate_mm_s, // M207 F - G10 Retract feedrate
retract_zlift, // M207 Z - G10 Retract hop size
retract_recover_length, // M208 S - G11 Recover length
retract_recover_feedrate_mm_s, // M208 F - G11 Recover feedrate
retract_length_swap, // M207 W - G10 Swap Retract length
retract_recover_length_swap, // M208 W - G11 Swap Recover length
swap_retract_recover_feedrate_mm_s; // M208 R - G11 Swap Recover feedrate
#if EXTRUDERS > 1
bool retracted_swap[EXTRUDERS] = { false }; // Which extruders are swap-retracted
#else
constexpr bool retracted_swap[1] = { false };
#endif
#endif // FWRETRACT
#if HAS_POWER_SWITCH
@@ -3100,55 +3102,120 @@ static void homeaxis(const AxisEnum axis) {
#if ENABLED(FWRETRACT)
void retract(const bool retracting, const bool swapping = false) {
/**
* Retract or recover according to firmware settings
*
* This function handles retract/recover moves for G10 and G11,
* plus auto-retract moves sent from G0/G1 when E-only moves are done.
*
* To simplify the logic, doubled retract/recover moves are ignored.
*
* Note: Z lift is done transparently to the planner. Aborting
* a print between G10 and G11 may corrupt the Z position.
*
* Note: Auto-retract will apply the set Z hop in addition to any Z hop
* included in the G-code. Use M207 Z0 to to prevent double hop.
*/
void retract(const bool retracting
#if EXTRUDERS > 1
, bool swapping = false
#endif
) {
static float hop_height;
static float hop_height, // Remember where the Z height started
hop_amount = 0.0; // Total amount lifted, for use in recover
if (retracting == retracted[active_extruder]) return;
// Simply never allow two retracts or recovers in a row
if (retracted[active_extruder] == retracting) return;
#if EXTRUDERS < 2
bool swapping = false;
#endif
if (!retracting) swapping = retracted_swap[active_extruder];
/* // debugging
SERIAL_ECHOLNPAIR("retracting ", retracting);
SERIAL_ECHOLNPAIR("swapping ", swapping);
SERIAL_ECHOLNPAIR("active extruder ", active_extruder);
for (uint8_t i = 0; i < EXTRUDERS; ++i) {
SERIAL_ECHOPAIR("retracted[", i);
SERIAL_ECHOLNPAIR("] ", retracted[i]);
SERIAL_ECHOPAIR("retracted_swap[", i);
SERIAL_ECHOLNPAIR("] ", retracted_swap[i]);
}
SERIAL_ECHOLNPAIR("current_position[z] ", current_position[Z_AXIS]);
SERIAL_ECHOLNPAIR("hop_amount ", hop_amount);
//*/
const bool has_zhop = retract_zlift > 0.01; // Is there a hop set?
const float old_feedrate_mm_s = feedrate_mm_s;
// The current position will be the destination for E and Z moves
set_destination_to_current();
if (retracting) {
// Remember the Z height since G-code may include its own Z-hop
// For best results turn off Z hop if G-code already includes it
hop_height = destination[Z_AXIS];
// Retract by moving from a faux E position back to the current E position
feedrate_mm_s = retract_feedrate_mm_s;
current_position[E_AXIS] += (swapping ? retract_length_swap : retract_length) / volumetric_multiplier[active_extruder];
sync_plan_position_e();
prepare_move_to_destination();
if (retract_zlift > 0.01) {
hop_height = current_position[Z_AXIS];
// Pretend current position is lower
current_position[Z_AXIS] -= retract_zlift;
SYNC_PLAN_POSITION_KINEMATIC();
// Raise up to the old current_position
prepare_move_to_destination();
// Is a Z hop set, and has the hop not yet been done?
if (has_zhop) {
hop_amount += retract_zlift; // Carriage is raised for retraction hop
current_position[Z_AXIS] -= retract_zlift; // Pretend current pos is lower. Next move raises Z.
SYNC_PLAN_POSITION_KINEMATIC(); // Set the planner to the new position
prepare_move_to_destination(); // Raise up to the old current pos
}
}
else {
// If the height hasn't been lowered, undo the Z hop
if (retract_zlift > 0.01 && hop_height <= current_position[Z_AXIS]) {
// Pretend current position is higher. Z will lower on the next move
current_position[Z_AXIS] += retract_zlift;
SYNC_PLAN_POSITION_KINEMATIC();
// Lower Z
prepare_move_to_destination();
// If a hop was done and Z hasn't changed, undo the Z hop
if (hop_amount && NEAR(hop_height, destination[Z_AXIS])) {
current_position[Z_AXIS] += hop_amount; // Pretend current pos is higher. Next move lowers Z.
SYNC_PLAN_POSITION_KINEMATIC(); // Set the planner to the new position
prepare_move_to_destination(); // Lower to the old current pos
hop_amount = 0.0;
}
feedrate_mm_s = retract_recover_feedrate_mm_s;
// A retract multiplier has been added here to get faster swap recovery
feedrate_mm_s = swapping ? swap_retract_recover_feedrate_mm_s : retract_recover_feedrate_mm_s;
const float move_e = swapping ? retract_length_swap + retract_recover_length_swap : retract_length + retract_recover_length;
current_position[E_AXIS] -= move_e / volumetric_multiplier[active_extruder];
sync_plan_position_e();
// Recover E
prepare_move_to_destination();
prepare_move_to_destination(); // Recover E
}
feedrate_mm_s = old_feedrate_mm_s;
// The active extruder is now retracted or recovered
retracted[active_extruder] = retracting;
// If swap retract/recover then update the retracted_swap flag too
#if EXTRUDERS > 1
if (swapping) retracted_swap[active_extruder] = retracting;
#endif
/* // debugging
SERIAL_ECHOLNPAIR("retracting ", retracting);
SERIAL_ECHOLNPAIR("swapping ", swapping);
SERIAL_ECHOLNPAIR("active_extruder ", active_extruder);
for (uint8_t i = 0; i < EXTRUDERS; ++i) {
SERIAL_ECHOPAIR("retracted[", i);
SERIAL_ECHOLNPAIR("] ", retracted[i]);
SERIAL_ECHOPAIR("retracted_swap[", i);
SERIAL_ECHOLNPAIR("] ", retracted_swap[i]);
}
SERIAL_ECHOLNPAIR("current_position[z] ", current_position[Z_AXIS]);
SERIAL_ECHOLNPAIR("hop_amount ", hop_amount);
//*/
} // retract()
#endif // FWRETRACT
@@ -3277,18 +3344,16 @@ inline void gcode_G0_G1(
gcode_get_destination(); // For X Y Z E F
#if ENABLED(FWRETRACT)
if (autoretract_enabled && !(parser.seen('X') || parser.seen('Y') || parser.seen('Z')) && parser.seen('E')) {
// When M209 Autoretract is enabled, convert E-only moves to firmware retract/recover moves
if (autoretract_enabled && parser.seen('E') && !(parser.seen('X') || parser.seen('Y') || parser.seen('Z'))) {
const float echange = destination[E_AXIS] - current_position[E_AXIS];
// Is this move an attempt to retract or recover?
// Is this a retract or recover move?
if (WITHIN(FABS(echange), MIN_AUTORETRACT, MAX_AUTORETRACT) && retracted[active_extruder] == (echange > 0.0)) {
current_position[E_AXIS] = destination[E_AXIS]; // hide the slicer-generated retract/recover from calculations
sync_plan_position_e(); // AND from the planner
retract(!retracted[active_extruder]);
return;
current_position[E_AXIS] = destination[E_AXIS]; // Hide a G1-based retract/recover from calculations
sync_plan_position_e(); // AND from the planner
return retract(echange < 0.0); // Firmware-based retract/recover (double-retract ignored)
}
}
#endif // FWRETRACT
#if IS_SCARA
@@ -8489,9 +8554,7 @@ inline void gcode_M205() {
if (parser.seen('S')) retract_length = parser.value_axis_units(E_AXIS);
if (parser.seen('F')) retract_feedrate_mm_s = MMM_TO_MMS(parser.value_axis_units(E_AXIS));
if (parser.seen('Z')) retract_zlift = parser.value_linear_units();
#if EXTRUDERS > 1
if (parser.seen('W')) retract_length_swap = parser.value_axis_units(E_AXIS);
#endif
if (parser.seen('W')) retract_length_swap = parser.value_axis_units(E_AXIS);
}
/**
@@ -8500,13 +8563,13 @@ inline void gcode_M205() {
* S[+units] retract_recover_length (in addition to M207 S*)
* W[+units] retract_recover_length_swap (multi-extruder)
* F[units/min] retract_recover_feedrate_mm_s
* R[units/min] swap_retract_recover_feedrate_mm_s
*/
inline void gcode_M208() {
if (parser.seen('S')) retract_recover_length = parser.value_axis_units(E_AXIS);
if (parser.seen('F')) retract_recover_feedrate_mm_s = MMM_TO_MMS(parser.value_axis_units(E_AXIS));
#if EXTRUDERS > 1
if (parser.seen('W')) retract_recover_length_swap = parser.value_axis_units(E_AXIS);
#endif
if (parser.seen('R')) swap_retract_recover_feedrate_mm_s = MMM_TO_MMS(parser.value_axis_units(E_AXIS));
if (parser.seen('W')) retract_recover_length_swap = parser.value_axis_units(E_AXIS);
}
/**