Improved solution to tool-change bug
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@ -7883,6 +7883,7 @@ inline void gcode_M999() {
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inline void move_extruder_servo(uint8_t e) {
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const int angles[2] = SWITCHING_EXTRUDER_SERVO_ANGLES;
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MOVE_SERVO(SWITCHING_EXTRUDER_SERVO_NR, angles[e]);
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delay(500);
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}
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#endif
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@ -8029,25 +8030,15 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
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#if ENABLED(SWITCHING_EXTRUDER)
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// <0 if the new nozzle is higher, >0 if lower. A bigger raise when lower.
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float z_diff = hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder],
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z_raise = 0.3 + (z_diff > 0.0 ? z_diff : 0.0);
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const float z_diff = hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder],
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z_raise = 0.3 + (z_diff > 0.0 ? z_diff : 0.0);
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// Always raise by some amount (destination copied from current_position earlier)
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float save_Z = destination[Z_AXIS]; // save Z for later on
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destination[Z_AXIS] += z_raise;
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planner.buffer_line_kinematic(destination, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
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current_position[Z_AXIS] += z_raise;
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planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
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stepper.synchronize();
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move_extruder_servo(active_extruder);
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delay(500);
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// Move back down, if needed
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if (z_raise != z_diff) {
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destination[Z_AXIS] = current_position[Z_AXIS] + z_diff;
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planner.buffer_line_kinematic(destination, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
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stepper.synchronize();
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}
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destination[Z_AXIS] = save_Z; // restore original Z position so the 'Move to the "old position"' is correct
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#endif
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/**
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@ -8098,12 +8089,12 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
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#endif
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// Adjustments to the current position
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float xydiff[2] = { offset_vec.x, offset_vec.y };
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const float xydiff[2] = { offset_vec.x, offset_vec.y };
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current_position[Z_AXIS] += offset_vec.z;
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#else // !ABL_PLANAR
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float xydiff[2] = {
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const float xydiff[2] = {
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hotend_offset[X_AXIS][tmp_extruder] - hotend_offset[X_AXIS][active_extruder],
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hotend_offset[Y_AXIS][tmp_extruder] - hotend_offset[Y_AXIS][active_extruder]
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};
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@ -8170,6 +8161,15 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
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prepare_move_to_destination();
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}
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#if ENABLED(SWITCHING_EXTRUDER)
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// Move back down, if needed. (Including when the new tool is higher.)
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if (z_raise != z_diff) {
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destination[Z_AXIS] += z_diff;
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feedrate_mm_s = planner.max_feedrate_mm_s[Z_AXIS];
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prepare_move_to_destination();
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}
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#endif
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} // (tmp_extruder != active_extruder)
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stepper.synchronize();
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