[ToolChanger] Lock the current tool at power-up (#17093)
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@ -165,7 +165,7 @@
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#include "feature/fanmux.h"
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#endif
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#if DO_SWITCH_EXTRUDER || ANY(SWITCHING_NOZZLE, PARKING_EXTRUDER, MAGNETIC_PARKING_EXTRUDER, ELECTROMAGNETIC_SWITCHING_TOOLHEAD)
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#if DO_SWITCH_EXTRUDER || ANY(SWITCHING_NOZZLE, PARKING_EXTRUDER, MAGNETIC_PARKING_EXTRUDER, ELECTROMAGNETIC_SWITCHING_TOOLHEAD, SWITCHING_TOOLHEAD)
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#include "module/tool_change.h"
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#endif
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@ -1110,6 +1110,10 @@ void setup() {
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pe_solenoid_init();
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#endif
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#if ENABLED(SWITCHING_TOOLHEAD)
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swt_init();
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#endif
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#if ENABLED(ELECTROMAGNETIC_SWITCHING_TOOLHEAD)
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est_init();
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#endif
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@ -368,11 +368,16 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
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#if ENABLED(SWITCHING_TOOLHEAD)
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inline void swt_lock(const bool locked=true) {
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const uint16_t swt_angles[2] = SWITCHING_TOOLHEAD_SERVO_ANGLES;
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MOVE_SERVO(SWITCHING_TOOLHEAD_SERVO_NR, swt_angles[locked ? 0 : 1]);
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}
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void swt_init() { swt_lock(); }
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inline void switching_toolhead_tool_change(const uint8_t new_tool, 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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constexpr float toolheadposx[] = SWITCHING_TOOLHEAD_X_POS;
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const float placexpos = toolheadposx[active_extruder],
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grabxpos = toolheadposx[new_tool];
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@ -406,7 +411,7 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
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planner.synchronize();
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(2) Unlock and Place Toolhead");
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MOVE_SERVO(SWITCHING_TOOLHEAD_SERVO_NR, angles[1]);
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swt_lock(false);
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safe_delay(500);
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current_position.y = SWITCHING_TOOLHEAD_Y_POS;
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@ -451,7 +456,7 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
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// Wait for move to finish, pause 0.2s, move servo, pause 0.5s
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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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swt_lock();
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safe_delay(500);
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current_position.y -= SWITCHING_TOOLHEAD_Y_CLEAR;
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@ -97,6 +97,10 @@
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void est_init();
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#endif
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#if ENABLED(SWITCHING_TOOLHEAD)
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void swt_init();
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#endif
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/**
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* Perform a tool-change, which may result in moving the
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* previous tool out of the way and the new tool into place.
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