Add'l toolchange syncs
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@ -135,11 +135,11 @@ inline void fast_line_to_current(const AxisEnum fr_axis) {
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#if ENABLED(MAGNETIC_PARKING_EXTRUDER)
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float parkingposx[2] , // M951 R L
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parkinggrabdistance , // M951 I
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parkingslowspeed, // M951 J
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parkinghighspeed , // M951 H
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parkingtraveldistance, // M951 D
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float parkingposx[2], // M951 R L
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parkinggrabdistance, // M951 I
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parkingslowspeed, // M951 J
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parkinghighspeed, // M951 H
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parkingtraveldistance, // M951 D
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compensationmultiplier;
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inline void magnetic_parking_extruder_tool_change(const uint8_t tmp_extruder) {
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@ -290,52 +290,50 @@ inline void fast_line_to_current(const AxisEnum fr_axis) {
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// STEP 1
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if (DEBUGGING(LEVELING)) DEBUG_POS("Start Autopark", current_position);
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if (DEBUGGING(LEVELING)) DEBUG_POS("Start PE Tool-Change", current_position);
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current_position[X_AXIS] = parkingposx[active_extruder] + x_offset;
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if (DEBUGGING(LEVELING)) {
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DEBUG_ECHOLNPAIR("(1) Park extruder ", int(active_extruder));
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DEBUG_POS("Moving ParkPos", current_position);
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}
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fast_line_to_current(X_AXIS);
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planner.synchronize();
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// STEP 2
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(2) Disengage magnet ");
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planner.synchronize();
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(2) Disengage magnet");
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pe_deactivate_solenoid(active_extruder);
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// STEP 3
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(3) Move near new extruder");
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current_position[X_AXIS] += active_extruder ? -10 : 10; // move 10mm away from parked extruder
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if (DEBUGGING(LEVELING)) DEBUG_POS("Move away from parked extruder", current_position);
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if (DEBUGGING(LEVELING)) {
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DEBUG_ECHOLNPGM("(3) Move near new extruder");
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DEBUG_POS("Move away from parked extruder", current_position);
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}
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fast_line_to_current(X_AXIS);
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planner.synchronize();
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// STEP 4
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planner.synchronize();
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(4) Engage magnetic field");
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#if ENABLED(PARKING_EXTRUDER_SOLENOIDS_INVERT)
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pe_activate_solenoid(active_extruder); //just save power for inverted magnets
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pe_activate_solenoid(active_extruder); // Just save power for inverted magnets
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#endif
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pe_activate_solenoid(tmp_extruder);
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// STEP 5
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current_position[X_AXIS] = grabpos + (tmp_extruder ? -10 : 10);
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fast_line_to_current(X_AXIS);
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current_position[X_AXIS] = grabpos;
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if (DEBUGGING(LEVELING)) DEBUG_POS("(5) Unpark extruder", current_position);
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if (DEBUGGING(LEVELING)) {
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planner.synchronize();
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DEBUG_POS("(5) Unpark extruder", current_position);
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}
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planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[X_AXIS] * 0.5, active_extruder);
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planner.synchronize();
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// STEP 6
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@ -344,13 +342,14 @@ inline void fast_line_to_current(const AxisEnum fr_axis) {
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- hotend_offset[X_AXIS][tmp_extruder]
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#endif
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;
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if (DEBUGGING(LEVELING)) DEBUG_POS("(6) Move midway between hotends", current_position);
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if (DEBUGGING(LEVELING)) {
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planner.synchronize();
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DEBUG_POS("(6) Move midway between hotends", current_position);
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}
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fast_line_to_current(X_AXIS);
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planner.synchronize();
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planner.synchronize(); // Always sync the final move
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DEBUG_ECHOLNPGM("Autopark done.");
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DEBUG_ECHOLNPGM("PE Tool-Change done.");
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}
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else { // nomove == true
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// Only engage magnetic field for new extruder
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@ -383,86 +382,80 @@ inline void fast_line_to_current(const AxisEnum fr_axis) {
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// 1. Move to switch position of current toolhead
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if (DEBUGGING(LEVELING)) DEBUG_POS("Starting Toolhead change", current_position);
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if (DEBUGGING(LEVELING)) DEBUG_POS("Start ST Tool-Change", current_position);
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current_position[X_AXIS] = placexpos;
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if (DEBUGGING(LEVELING)) {
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DEBUG_ECHOLNPAIR("(1) Place old tool ", int(active_extruder));
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DEBUG_POS("Move X SwitchPos", current_position);
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}
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fast_line_to_current(X_AXIS);
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planner.synchronize();
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current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS - SWITCHING_TOOLHEAD_Y_SECURITY;
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if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos + Security", current_position);
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current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS - (SWITCHING_TOOLHEAD_Y_SECURITY);
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if (DEBUGGING(LEVELING)) {
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planner.synchronize();
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DEBUG_POS("Move Y SwitchPos + Security", current_position);
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}
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fast_line_to_current(Y_AXIS);
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planner.synchronize();
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// 2. Unlock tool and drop it in the dock
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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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safe_delay(500);
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current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS;
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if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos", current_position);
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planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[Y_AXIS] * 0.5f, active_extruder);
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planner.buffer_line(current_position,(planner.settings.max_feedrate_mm_s[Y_AXIS] * 0.5), active_extruder);
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// Wait for move to complete, then another 0.2s
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planner.synchronize();
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safe_delay(200);
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current_position[Y_AXIS] -= SWITCHING_TOOLHEAD_Y_CLEAR;
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if (DEBUGGING(LEVELING)) DEBUG_POS("Move back Y clear", current_position);
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fast_line_to_current(Y_AXIS); // move away from docked toolhead
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planner.synchronize();
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// 3. Move to the new toolhead
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(3) Move to new toolhead position");
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current_position[X_AXIS] = grabxpos;
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if (DEBUGGING(LEVELING)) DEBUG_POS("Move to new toolhead X", current_position);
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if (DEBUGGING(LEVELING)) {
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planner.synchronize();
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DEBUG_ECHOLNPGM("(3) Move to new toolhead position");
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DEBUG_POS("Move to new toolhead X", current_position);
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}
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fast_line_to_current(X_AXIS);
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planner.synchronize();
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current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS - SWITCHING_TOOLHEAD_Y_SECURITY;
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if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos + Security", current_position);
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current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS - (SWITCHING_TOOLHEAD_Y_SECURITY);
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if (DEBUGGING(LEVELING)) {
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planner.synchronize();
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DEBUG_POS("Move Y SwitchPos + Security", current_position);
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}
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fast_line_to_current(Y_AXIS);
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planner.synchronize();
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// 4. Grab and lock the new toolhead
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(4) Grab and lock new toolhead ");
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current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS;
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if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos", current_position);
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if (DEBUGGING(LEVELING)) {
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planner.synchronize();
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DEBUG_ECHOLNPGM("(4) Grab and lock new toolhead");
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DEBUG_POS("Move Y SwitchPos", current_position);
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}
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planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[Y_AXIS] * 0.5, active_extruder);
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planner.synchronize();
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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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safe_delay(500);
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current_position[Y_AXIS] -= SWITCHING_TOOLHEAD_Y_CLEAR;
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if (DEBUGGING(LEVELING)) DEBUG_POS("Move back Y clear", current_position);
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fast_line_to_current(Y_AXIS); // Move away from docked toolhead
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planner.synchronize(); // Always sync the final move
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fast_line_to_current(Y_AXIS); // move away from docked toolhead
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planner.synchronize();
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Toolhead change done.");
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("ST Tool-Change done.");
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}
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#elif ENABLED(MAGNETIC_SWITCHING_TOOLHEAD)
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