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Add'l toolchange syncs

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This commit is contained in:
Scott Lahteine 2019-07-18 02:44:08 -05:00
parent fac0e63058
commit 68108789d0
1 changed files with 56 additions and 63 deletions
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119
Marlin/src/module/tool_change.cpp
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@ -135,11 +135,11 @@ inline void fast_line_to_current(const AxisEnum fr_axis) {
#if ENABLED(MAGNETIC_PARKING_EXTRUDER) #if ENABLED(MAGNETIC_PARKING_EXTRUDER)
float parkingposx[2] , // M951 R L float parkingposx[2], // M951 R L
parkinggrabdistance , // M951 I parkinggrabdistance, // M951 I
parkingslowspeed, // M951 J parkingslowspeed, // M951 J
parkinghighspeed , // M951 H parkinghighspeed, // M951 H
parkingtraveldistance, // M951 D parkingtraveldistance, // M951 D
compensationmultiplier; compensationmultiplier;
inline void magnetic_parking_extruder_tool_change(const uint8_t tmp_extruder) { inline void magnetic_parking_extruder_tool_change(const uint8_t tmp_extruder) {
@ -290,52 +290,50 @@ inline void fast_line_to_current(const AxisEnum fr_axis) {
// STEP 1 // STEP 1
if (DEBUGGING(LEVELING)) DEBUG_POS("Start Autopark", current_position); if (DEBUGGING(LEVELING)) DEBUG_POS("Start PE Tool-Change", current_position);
current_position[X_AXIS] = parkingposx[active_extruder] + x_offset; current_position[X_AXIS] = parkingposx[active_extruder] + x_offset;
if (DEBUGGING(LEVELING)) { if (DEBUGGING(LEVELING)) {
DEBUG_ECHOLNPAIR("(1) Park extruder ", int(active_extruder)); DEBUG_ECHOLNPAIR("(1) Park extruder ", int(active_extruder));
DEBUG_POS("Moving ParkPos", current_position); DEBUG_POS("Moving ParkPos", current_position);
} }
fast_line_to_current(X_AXIS); fast_line_to_current(X_AXIS);
planner.synchronize();
// STEP 2 // STEP 2
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(2) Disengage magnet "); planner.synchronize();
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(2) Disengage magnet");
pe_deactivate_solenoid(active_extruder); pe_deactivate_solenoid(active_extruder);
// STEP 3 // STEP 3
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(3) Move near new extruder");
current_position[X_AXIS] += active_extruder ? -10 : 10; // move 10mm away from parked extruder current_position[X_AXIS] += active_extruder ? -10 : 10; // move 10mm away from parked extruder
if (DEBUGGING(LEVELING)) {
if (DEBUGGING(LEVELING)) DEBUG_POS("Move away from parked extruder", current_position); DEBUG_ECHOLNPGM("(3) Move near new extruder");
DEBUG_POS("Move away from parked extruder", current_position);
}
fast_line_to_current(X_AXIS); fast_line_to_current(X_AXIS);
planner.synchronize();
// STEP 4 // STEP 4
planner.synchronize();
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(4) Engage magnetic field"); if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(4) Engage magnetic field");
#if ENABLED(PARKING_EXTRUDER_SOLENOIDS_INVERT) #if ENABLED(PARKING_EXTRUDER_SOLENOIDS_INVERT)
pe_activate_solenoid(active_extruder); //just save power for inverted magnets pe_activate_solenoid(active_extruder); // Just save power for inverted magnets
#endif #endif
pe_activate_solenoid(tmp_extruder); pe_activate_solenoid(tmp_extruder);
// STEP 5 // STEP 5
current_position[X_AXIS] = grabpos + (tmp_extruder ? -10 : 10); current_position[X_AXIS] = grabpos + (tmp_extruder ? -10 : 10);
fast_line_to_current(X_AXIS); fast_line_to_current(X_AXIS);
current_position[X_AXIS] = grabpos; current_position[X_AXIS] = grabpos;
if (DEBUGGING(LEVELING)) DEBUG_POS("(5) Unpark extruder", current_position); if (DEBUGGING(LEVELING)) {
planner.synchronize();
DEBUG_POS("(5) Unpark extruder", current_position);
}
planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[X_AXIS] * 0.5, active_extruder); planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[X_AXIS] * 0.5, active_extruder);
planner.synchronize();
// STEP 6 // STEP 6
@ -344,13 +342,14 @@ inline void fast_line_to_current(const AxisEnum fr_axis) {
- hotend_offset[X_AXIS][tmp_extruder] - hotend_offset[X_AXIS][tmp_extruder]
#endif #endif
; ;
if (DEBUGGING(LEVELING)) {
if (DEBUGGING(LEVELING)) DEBUG_POS("(6) Move midway between hotends", current_position); planner.synchronize();
DEBUG_POS("(6) Move midway between hotends", current_position);
}
fast_line_to_current(X_AXIS); fast_line_to_current(X_AXIS);
planner.synchronize(); planner.synchronize(); // Always sync the final move
DEBUG_ECHOLNPGM("Autopark done."); DEBUG_ECHOLNPGM("PE Tool-Change done.");
} }
else { // nomove == true else { // nomove == true
// Only engage magnetic field for new extruder // Only engage magnetic field for new extruder
@ -383,86 +382,80 @@ inline void fast_line_to_current(const AxisEnum fr_axis) {
// 1. Move to switch position of current toolhead // 1. Move to switch position of current toolhead
if (DEBUGGING(LEVELING)) DEBUG_POS("Starting Toolhead change", current_position); if (DEBUGGING(LEVELING)) DEBUG_POS("Start ST Tool-Change", current_position);
current_position[X_AXIS] = placexpos; current_position[X_AXIS] = placexpos;
if (DEBUGGING(LEVELING)) { if (DEBUGGING(LEVELING)) {
DEBUG_ECHOLNPAIR("(1) Place old tool ", int(active_extruder)); DEBUG_ECHOLNPAIR("(1) Place old tool ", int(active_extruder));
DEBUG_POS("Move X SwitchPos", current_position); DEBUG_POS("Move X SwitchPos", current_position);
} }
fast_line_to_current(X_AXIS); fast_line_to_current(X_AXIS);
planner.synchronize();
current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS - SWITCHING_TOOLHEAD_Y_SECURITY;
if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos + Security", current_position);
current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS - (SWITCHING_TOOLHEAD_Y_SECURITY);
if (DEBUGGING(LEVELING)) {
planner.synchronize();
DEBUG_POS("Move Y SwitchPos + Security", current_position);
}
fast_line_to_current(Y_AXIS); fast_line_to_current(Y_AXIS);
planner.synchronize();
// 2. Unlock tool and drop it in the dock // 2. Unlock tool and drop it in the dock
planner.synchronize();
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(2) Unlock and Place Toolhead"); if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(2) Unlock and Place Toolhead");
MOVE_SERVO(SWITCHING_TOOLHEAD_SERVO_NR, angles[1]); MOVE_SERVO(SWITCHING_TOOLHEAD_SERVO_NR, angles[1]);
safe_delay(500); safe_delay(500);
current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS; current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS;
if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos", current_position); if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos", current_position);
planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[Y_AXIS] * 0.5f, active_extruder);
planner.buffer_line(current_position,(planner.settings.max_feedrate_mm_s[Y_AXIS] * 0.5), active_extruder); // Wait for move to complete, then another 0.2s
planner.synchronize(); planner.synchronize();
safe_delay(200); safe_delay(200);
current_position[Y_AXIS] -= SWITCHING_TOOLHEAD_Y_CLEAR; current_position[Y_AXIS] -= SWITCHING_TOOLHEAD_Y_CLEAR;
if (DEBUGGING(LEVELING)) DEBUG_POS("Move back Y clear", current_position); if (DEBUGGING(LEVELING)) DEBUG_POS("Move back Y clear", current_position);
fast_line_to_current(Y_AXIS); // move away from docked toolhead fast_line_to_current(Y_AXIS); // move away from docked toolhead
planner.synchronize();
// 3. Move to the new toolhead // 3. Move to the new toolhead
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(3) Move to new toolhead position");
current_position[X_AXIS] = grabxpos; current_position[X_AXIS] = grabxpos;
if (DEBUGGING(LEVELING)) {
if (DEBUGGING(LEVELING)) DEBUG_POS("Move to new toolhead X", current_position); planner.synchronize();
DEBUG_ECHOLNPGM("(3) Move to new toolhead position");
DEBUG_POS("Move to new toolhead X", current_position);
}
fast_line_to_current(X_AXIS); fast_line_to_current(X_AXIS);
planner.synchronize();
current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS - SWITCHING_TOOLHEAD_Y_SECURITY;
if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos + Security", current_position);
current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS - (SWITCHING_TOOLHEAD_Y_SECURITY);
if (DEBUGGING(LEVELING)) {
planner.synchronize();
DEBUG_POS("Move Y SwitchPos + Security", current_position);
}
fast_line_to_current(Y_AXIS); fast_line_to_current(Y_AXIS);
planner.synchronize();
// 4. Grab and lock the new toolhead // 4. Grab and lock the new toolhead
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(4) Grab and lock new toolhead ");
current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS; current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS;
if (DEBUGGING(LEVELING)) {
if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos", current_position); planner.synchronize();
DEBUG_ECHOLNPGM("(4) Grab and lock new toolhead");
DEBUG_POS("Move Y SwitchPos", current_position);
}
planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[Y_AXIS] * 0.5, active_extruder); planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[Y_AXIS] * 0.5, active_extruder);
planner.synchronize();
// Wait for move to finish, pause 0.2s, move servo, pause 0.5s
planner.synchronize();
safe_delay(200); safe_delay(200);
MOVE_SERVO(SWITCHING_TOOLHEAD_SERVO_NR, angles[0]); MOVE_SERVO(SWITCHING_TOOLHEAD_SERVO_NR, angles[0]);
safe_delay(500); safe_delay(500);
current_position[Y_AXIS] -= SWITCHING_TOOLHEAD_Y_CLEAR; current_position[Y_AXIS] -= SWITCHING_TOOLHEAD_Y_CLEAR;
if (DEBUGGING(LEVELING)) DEBUG_POS("Move back Y clear", current_position); if (DEBUGGING(LEVELING)) DEBUG_POS("Move back Y clear", current_position);
fast_line_to_current(Y_AXIS); // Move away from docked toolhead
planner.synchronize(); // Always sync the final move
fast_line_to_current(Y_AXIS); // move away from docked toolhead if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("ST Tool-Change done.");
planner.synchronize();
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Toolhead change done.");
} }
#elif ENABLED(MAGNETIC_SWITCHING_TOOLHEAD) #elif ENABLED(MAGNETIC_SWITCHING_TOOLHEAD)