diff --git a/Marlin/Configuration_adv.h b/Marlin/Configuration_adv.h index 9aee4a892..52b654d05 100644 --- a/Marlin/Configuration_adv.h +++ b/Marlin/Configuration_adv.h @@ -169,11 +169,6 @@ #define X2_STEP_PIN 25 #define X2_DIR_PIN 23 -// The following settings control the behaviour of the automatic parking and unparking of inactive extruder -#define TOOLCHANGE_PARK_ZLIFT 0.1 // the distance to raise Z axis when parking an extruder -#define TOOLCHANGE_UNPARK_ZLIFT 1 // the distance to raise Z axis when unparking an extruder -#define TOOLCHANGE_UNPARK_SKIP_TRAVEL_MOVES // disable if slicer natively suports dual x-carriage mode. - // When enabled this avoids unnecessary & inadvertant moves from the last position of old extruder. #endif // DUAL_X_CARRIAGE //homing hits the endstop, then retracts by this distance, before it tries to slowly bump again: diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index c44cf5eca..45720f79b 100644 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -703,9 +703,7 @@ static int x_home_dir(int extruder) { return (extruder == 0) ? X_HOME_DIR : X2_HOME_DIR; } -static bool active_extruder_parked = false; -static float raised_parked_position[NUM_AXIS]; -static unsigned long delayed_move_time = 0; +static float inactive_x_carriage_pos = X2_MAX_POS; #endif static void axis_is_at_home(int axis) { @@ -745,18 +743,18 @@ static void homeaxis(int axis) { current_position[axis] = 0; plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); - destination[axis] = 1.5 * max_length(axis) * home_dir(axis); + destination[axis] = 1.5 * max_length(axis) * axis_home_dir; feedrate = homing_feedrate[axis]; plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); st_synchronize(); current_position[axis] = 0; plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); - destination[axis] = -home_retract_mm(axis) * home_dir(axis); + destination[axis] = -home_retract_mm(axis) * axis_home_dir; plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); st_synchronize(); - destination[axis] = 2*home_retract_mm(axis) * home_dir(axis); + destination[axis] = 2*home_retract_mm(axis) * axis_home_dir; feedrate = homing_feedrate[axis]/2 ; plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); st_synchronize(); @@ -896,7 +894,7 @@ void process_commands() #else // NOT DELTA - home_all_axis = !((code_seen(axis_codes[0])) || (code_seen(axis_codes[1])) || (code_seen(axis_codes[2]))); + home_all_axis = !((code_seen(axis_codes[0])) || (code_seen(axis_codes[1])) || (code_seen(axis_codes[2]))); #if Z_HOME_DIR > 0 // If homing away from BED do Z first if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) { @@ -945,9 +943,8 @@ void process_commands() int tmp_extruder = active_extruder; active_extruder = !active_extruder; HOMEAXIS(X); + inactive_x_carriage_pos = current_position[X_AXIS]; active_extruder = tmp_extruder; - active_extruder_parked = false; - delayed_move_time = 0; #endif HOMEAXIS(X); } @@ -2061,34 +2058,18 @@ void process_commands() // Save current position to return to after applying extruder offset memcpy(destination, current_position, sizeof(destination)); #ifdef DUAL_X_CARRIAGE - if (Stopped == false && delayed_move_time == 0 && current_position[X_AXIS] != x_home_pos(active_extruder)) - { - // Park old head: 1) raise 2) move to park position 3) lower - plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT, - current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder); - plan_buffer_line(x_home_pos(active_extruder), current_position[Y_AXIS], current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT, - current_position[E_AXIS], max_feedrate[X_AXIS], active_extruder); - plan_buffer_line(x_home_pos(active_extruder), current_position[Y_AXIS], current_position[Z_AXIS], - current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder); - st_synchronize(); - } - // only apply Y extruder offset in dual x carriage mode (x offset is already used in determining home pos) current_position[Y_AXIS] = current_position[Y_AXIS] - extruder_offset[Y_AXIS][active_extruder] + extruder_offset[Y_AXIS][tmp_extruder]; - + + float tmp_x_pos = current_position[X_AXIS]; + + // Set the new active extruder and position active_extruder = tmp_extruder; - - // Inactive head always starts at its parked position. - axis_is_at_home(X_AXIS); - - // record raised toolhead position for use by unpark - memcpy(raised_parked_position, current_position, sizeof(raised_parked_position)); - raised_parked_position[Z_AXIS] += TOOLCHANGE_UNPARK_ZLIFT; - - active_extruder_parked = true; - delayed_move_time = 0; + axis_is_at_home(X_AXIS); //this function updates X min/max values. + current_position[X_AXIS] = inactive_x_carriage_pos; + inactive_x_carriage_pos = tmp_x_pos; #else // Offset extruder (only by XY) int i; @@ -2294,40 +2275,6 @@ void prepare_move() active_extruder); } #else - -#if defined(DUAL_X_CARRIAGE) - if (active_extruder_parked) - { - if (current_position[E_AXIS] == destination[E_AXIS]) - { - // this is a travel move -#ifdef TOOLCHANGE_UNPARK_SKIP_TRAVEL_MOVES - if (delayed_move_time != 0xFFFFFFFFUL) - { - // skip this move but still update current_position in main so that it can - // be used as starting position before extrusion (but not in planner) - memcpy(current_position, destination, sizeof(current_position)); - if (destination[Z_AXIS] > raised_parked_position[Z_AXIS]) - raised_parked_position[Z_AXIS] = destination[Z_AXIS]; - delayed_move_time = millis(); - return; - } - delayed_move_time = 0; -#else - // this will cause the unpark code below to execute the specified lift in moving to the initial (travel move) position. - memcpy(current_position, destination, sizeof(current_position)); -#endif - } - // unpark extruder: 1) raise, 2) move into starting XY position, 3) lower - plan_buffer_line(raised_parked_position[X_AXIS], raised_parked_position[Y_AXIS], raised_parked_position[Z_AXIS], current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder); - plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], raised_parked_position[Z_AXIS], - current_position[E_AXIS], min(max_feedrate[X_AXIS],max_feedrate[Y_AXIS]), active_extruder); - plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], - current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder); - active_extruder_parked = false; - } -#endif //DUAL_X_CARRIAGE - // Do not use feedmultiply for E or Z only moves if( (current_position[X_AXIS] == destination [X_AXIS]) && (current_position[Y_AXIS] == destination [Y_AXIS])) { plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); @@ -2447,16 +2394,6 @@ void manage_inactivity() WRITE(E0_ENABLE_PIN,oldstatus); } #endif - #if defined(DUAL_X_CARRIAGE) && defined(TOOLCHANGE_UNPARK_SKIP_TRAVEL_MOVES) - // handle delayed move timeout - if (delayed_move_time != 0 && (millis() - delayed_move_time) > 1000) - { - // travel moves have been received so enact them - delayed_move_time = 0xFFFFFFFFUL; // force moves to be done - memcpy(destination,current_position,sizeof(destination)); - prepare_move(); - } - #endif check_axes_activity(); }