Added circle pattern for nozzle cleaning feature
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3b75518ef6
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6836b94eea
@ -96,7 +96,7 @@
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//
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// Marlin now allow you to have a vendor boot image to be displayed on machine
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// start. When SHOW_CUSTOM_BOOTSCREEN is defined Marlin will first show your
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// custom boot image and them the default Marlin boot image is shown.
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// custom boot image and then the default Marlin boot image is shown.
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//
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// We suggest for you to take advantage of this new feature and keep the Marlin
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// boot image unmodified. For an example have a look at the bq Hephestos 2
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@ -1000,6 +1000,9 @@
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// |________|_________|_________|
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// T1 T2 T3
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//
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// P2: This starts a circular pattern with circle with middle in
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// NOZZLE_CLEAN_CIRCLE_MIDDLE radius of R and stroke count of S.
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// Before starting the circle nozzle goes to NOZZLE_CLEAN_START_POINT.
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//
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// Caveats: End point Z should use the same value as Start point Z.
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//
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@ -1019,6 +1022,13 @@
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#define NOZZLE_CLEAN_START_POINT { 30, 30, (Z_MIN_POS + 1)}
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#define NOZZLE_CLEAN_END_POINT {100, 60, (Z_MIN_POS + 1)}
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// Circular pattern radius
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#define NOZZLE_CLEAN_CIRCLE_RADIUS 6.5
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// Circular pattern circle fragments number
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#define NOZZLE_CLEAN_CIRCLE_FN 10
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// Middle point of circle
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#define NOZZLE_CLEAN_CIRCLE_MIDDLE NOZZLE_CLEAN_START_POINT
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// Moves the nozzle to the initial position
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#define NOZZLE_CLEAN_GOBACK
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#endif
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@ -3164,8 +3164,9 @@ inline void gcode_G4() {
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const uint8_t pattern = code_seen('P') ? code_value_ushort() : 0,
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strokes = code_seen('S') ? code_value_ushort() : NOZZLE_CLEAN_STROKES,
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objects = code_seen('T') ? code_value_ushort() : NOZZLE_CLEAN_TRIANGLES;
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const float radius = code_seen('R') ? code_value_float() : NOZZLE_CLEAN_CIRCLE_RADIUS;
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Nozzle::clean(pattern, strokes, objects);
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Nozzle::clean(pattern, strokes, radius, objects);
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}
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#endif
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236
Marlin/nozzle.cpp
Normal file
236
Marlin/nozzle.cpp
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@ -0,0 +1,236 @@
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#include "nozzle.h"
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#include "Marlin.h"
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#include "point_t.h"
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/**
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* @brief Stroke clean pattern
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* @details Wipes the nozzle back and forth in a linear movement
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*
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* @param start point_t defining the starting point
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* @param end point_t defining the ending point
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* @param strokes number of strokes to execute
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*/
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void Nozzle::stroke(
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__attribute__((unused)) point_t const &start,
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__attribute__((unused)) point_t const &end,
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__attribute__((unused)) uint8_t const &strokes
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) {
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#if ENABLED(NOZZLE_CLEAN_FEATURE)
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#if ENABLED(NOZZLE_CLEAN_GOBACK)
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// Store the current coords
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point_t const initial = {
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current_position[X_AXIS],
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current_position[Y_AXIS],
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current_position[Z_AXIS],
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current_position[E_AXIS]
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};
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#endif // NOZZLE_CLEAN_GOBACK
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// Move to the starting point
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do_blocking_move_to_xy(start.x, start.y);
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do_blocking_move_to_z(start.z);
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// Start the stroke pattern
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for (uint8_t i = 0; i < (strokes >>1); i++) {
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do_blocking_move_to_xy(end.x, end.y);
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do_blocking_move_to_xy(start.x, start.y);
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}
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#if ENABLED(NOZZLE_CLEAN_GOBACK)
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// Move the nozzle to the initial point
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do_blocking_move_to(initial.x, initial.y, initial.z);
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#endif // NOZZLE_CLEAN_GOBACK
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#endif // NOZZLE_CLEAN_FEATURE
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}
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/**
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* @brief Zig-zag clean pattern
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* @details Apply a zig-zag cleanning pattern
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*
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* @param start point_t defining the starting point
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* @param end point_t defining the ending point
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* @param strokes number of strokes to execute
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* @param objects number of objects to create
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*/
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void Nozzle::zigzag(
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__attribute__((unused)) point_t const &start,
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__attribute__((unused)) point_t const &end,
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__attribute__((unused)) uint8_t const &strokes,
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__attribute__((unused)) uint8_t const &objects
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) {
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#if ENABLED(NOZZLE_CLEAN_FEATURE)
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float A = fabs(end.y - start.y); // [twice the] Amplitude
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float P = fabs(end.x - start.x) / (objects << 1); // Period
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// Don't allow impossible triangles
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if (A <= 0.0f || P <= 0.0f ) return;
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#if ENABLED(NOZZLE_CLEAN_GOBACK)
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// Store the current coords
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point_t const initial = {
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current_position[X_AXIS],
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current_position[Y_AXIS],
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current_position[Z_AXIS],
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current_position[E_AXIS]
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};
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#endif // NOZZLE_CLEAN_GOBACK
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for (uint8_t j = 0; j < strokes; j++) {
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for (uint8_t i = 0; i < (objects << 1); i++) {
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float const x = start.x + i * P;
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float const y = start.y + (A/P) * (P - fabs(fmod((i*P), (2*P)) - P));
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do_blocking_move_to_xy(x, y);
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if (i == 0) do_blocking_move_to_z(start.z);
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}
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for (int i = (objects << 1); i > -1; i--) {
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float const x = start.x + i * P;
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float const y = start.y + (A/P) * (P - fabs(fmod((i*P), (2*P)) - P));
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do_blocking_move_to_xy(x, y);
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}
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}
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#if ENABLED(NOZZLE_CLEAN_GOBACK)
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// Move the nozzle to the initial point
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do_blocking_move_to_z(initial.z);
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do_blocking_move_to_xy(initial.x, initial.y);
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#endif // NOZZLE_CLEAN_GOBACK
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#endif // NOZZLE_CLEAN_FEATURE
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}
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/**
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* @brief Circular clean pattern
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* @details Apply a circular cleaning pattern
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*
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* @param start point_t defining the middle of circle
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* @param strokes number of strokes to execute
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* @param radius radius of circle
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*/
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void Nozzle::circle(
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__attribute__((unused)) point_t const &start,
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__attribute__((unused)) point_t const &middle,
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__attribute__((unused)) uint8_t const &strokes,
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__attribute__((unused)) float const &radius
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) {
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#if ENABLED(NOZZLE_CLEAN_FEATURE)
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if (strokes == 0) return;
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#if ENABLED(NOZZLE_CLEAN_GOBACK)
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// Store the current coords
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point_t const initial = {
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current_position[X_AXIS],
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current_position[Y_AXIS],
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current_position[Z_AXIS],
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current_position[E_AXIS]
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};
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#endif // NOZZLE_CLEAN_GOBACK
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if (start.z <= current_position[Z_AXIS]) {
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// Order of movement is pretty darn important here
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do_blocking_move_to_xy(start.x, start.y);
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do_blocking_move_to_z(start.z);
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} else {
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do_blocking_move_to_z(start.z);
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do_blocking_move_to_xy(start.x, start.y);
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}
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float x, y;
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for (uint8_t s = 0; s < strokes; s++) {
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for (uint8_t i = 0; i < NOZZLE_CLEAN_CIRCLE_FN; i++) {
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x = middle.x + sin((M_2_PI / NOZZLE_CLEAN_CIRCLE_FN) * i) * radius;
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y = middle.y + cos((M_2_PI / NOZZLE_CLEAN_CIRCLE_FN) * i) * radius;
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do_blocking_move_to_xy(x, y);
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}
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}
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// Let's be safe
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do_blocking_move_to_xy(start.x, start.y);
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#if ENABLED(NOZZLE_CLEAN_GOBACK)
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// Move the nozzle to the initial point
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if (start.z <= initial.z) {
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// As above order is important
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do_blocking_move_to_z(initial.z);
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do_blocking_move_to_xy(initial.x, initial.y);
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} else {
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do_blocking_move_to_xy(initial.x, initial.y);
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do_blocking_move_to_z(initial.z);
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}
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#endif // NOZZLE_CLEAN_GOBACK
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#endif // NOZZLE_CLEAN_FEATURE
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}
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/**
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* @brief Clean the nozzle
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* @details Starts the selected clean procedure pattern
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*
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* @param pattern one of the available patterns
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* @param argument depends on the cleaning pattern
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*/
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void Nozzle::clean(
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__attribute__((unused)) uint8_t const &pattern,
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__attribute__((unused)) uint8_t const &strokes,
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__attribute__((unused)) float const &radius,
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__attribute__((unused)) uint8_t const &objects
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) {
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#if ENABLED(NOZZLE_CLEAN_FEATURE)
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#if ENABLED(DELTA)
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if (current_position[Z_AXIS] > delta_clip_start_height)
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do_blocking_move_to_z(delta_clip_start_height);
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#endif
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switch (pattern) {
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case 1:
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Nozzle::zigzag(
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NOZZLE_CLEAN_START_POINT,
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NOZZLE_CLEAN_END_POINT, strokes, objects);
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break;
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case 2:
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Nozzle::circle(
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NOZZLE_CLEAN_START_POINT,
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NOZZLE_CLEAN_CIRCLE_MIDDLE, strokes, radius);
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break;
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default:
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Nozzle::stroke(
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NOZZLE_CLEAN_START_POINT,
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NOZZLE_CLEAN_END_POINT, strokes);
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}
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#endif // NOZZLE_CLEAN_FEATURE
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}
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void Nozzle::park(
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__attribute__((unused)) uint8_t const &z_action
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) {
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#if ENABLED(NOZZLE_PARK_FEATURE)
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float const z = current_position[Z_AXIS];
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point_t const park = NOZZLE_PARK_POINT;
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switch(z_action) {
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case 1: // force Z-park height
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do_blocking_move_to_z(park.z);
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break;
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case 2: // Raise by Z-park height
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do_blocking_move_to_z(
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(z + park.z > Z_MAX_POS) ? Z_MAX_POS : z + park.z);
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break;
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default: // Raise to Z-park height if lower
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if (current_position[Z_AXIS] < park.z)
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do_blocking_move_to_z(park.z);
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}
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do_blocking_move_to_xy(park.x, park.y);
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#endif // NOZZLE_PARK_FEATURE
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}
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137
Marlin/nozzle.h
137
Marlin/nozzle.h
@ -53,40 +53,11 @@ class Nozzle {
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__attribute__((unused)) point_t const &start,
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__attribute__((unused)) point_t const &end,
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__attribute__((unused)) uint8_t const &strokes
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) __attribute__((optimize ("Os"))) {
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#if ENABLED(NOZZLE_CLEAN_FEATURE)
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#if ENABLED(NOZZLE_CLEAN_GOBACK)
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// Store the current coords
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point_t const initial = {
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current_position[X_AXIS],
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current_position[Y_AXIS],
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current_position[Z_AXIS],
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current_position[E_AXIS]
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};
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#endif // NOZZLE_CLEAN_GOBACK
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// Move to the starting point
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do_blocking_move_to_xy(start.x, start.y);
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do_blocking_move_to_z(start.z);
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// Start the stroke pattern
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for (uint8_t i = 0; i < (strokes >>1); i++) {
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do_blocking_move_to_xy(end.x, end.y);
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do_blocking_move_to_xy(start.x, start.y);
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}
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#if ENABLED(NOZZLE_CLEAN_GOBACK)
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// Move the nozzle to the initial point
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do_blocking_move_to(initial.x, initial.y, initial.z);
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#endif // NOZZLE_CLEAN_GOBACK
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#endif // NOZZLE_CLEAN_FEATURE
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}
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) __attribute__((optimize ("Os")));
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/**
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* @brief Zig-zag clean pattern
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* @details Apply a zig-zag cleanning pattern
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* @details Apply a zig-zag cleaning pattern
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*
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* @param start point_t defining the starting point
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* @param end point_t defining the ending point
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@ -98,49 +69,22 @@ class Nozzle {
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__attribute__((unused)) point_t const &end,
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__attribute__((unused)) uint8_t const &strokes,
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__attribute__((unused)) uint8_t const &objects
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) __attribute__((optimize ("Os"))) {
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#if ENABLED(NOZZLE_CLEAN_FEATURE)
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float A = nozzle_clean_horizontal ? nozzle_clean_height : nozzle_clean_length; // [twice the] Amplitude
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float P = ( nozzle_clean_horizontal ? nozzle_clean_length : nozzle_clean_height ) / (objects << 1); // Period
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) __attribute__((optimize ("Os")));
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// Don't allow impossible triangles
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if (A <= 0.0f || P <= 0.0f ) return;
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#if ENABLED(NOZZLE_CLEAN_GOBACK)
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// Store the current coords
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point_t const initial = {
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current_position[X_AXIS],
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current_position[Y_AXIS],
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current_position[Z_AXIS],
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current_position[E_AXIS]
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};
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#endif // NOZZLE_CLEAN_GOBACK
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for (uint8_t j = 0; j < strokes; j++) {
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for (uint8_t i = 0; i < (objects << 1); i++) {
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float const x = start.x + ( nozzle_clean_horizontal ? i * P : (A/P) * (P - fabs(fmod((i*P), (2*P)) - P)) );
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float const y = start.y + (!nozzle_clean_horizontal ? i * P : (A/P) * (P - fabs(fmod((i*P), (2*P)) - P)) );
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do_blocking_move_to_xy(x, y);
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if (i == 0) do_blocking_move_to_z(start.z);
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}
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for (int i = (objects << 1); i > -1; i--) {
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float const x = start.x + ( nozzle_clean_horizontal ? i * P : (A/P) * (P - fabs(fmod((i*P), (2*P)) - P)) );
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float const y = start.y + (!nozzle_clean_horizontal ? i * P : (A/P) * (P - fabs(fmod((i*P), (2*P)) - P)) );
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do_blocking_move_to_xy(x, y);
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}
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}
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#if ENABLED(NOZZLE_CLEAN_GOBACK)
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// Move the nozzle to the initial point
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do_blocking_move_to_z(initial.z);
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do_blocking_move_to_xy(initial.x, initial.y);
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#endif // NOZZLE_CLEAN_GOBACK
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#endif // NOZZLE_CLEAN_FEATURE
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}
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/**
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* @brief Circular clean pattern
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* @details Apply a circular cleaning pattern
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*
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* @param start point_t defining the middle of circle
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* @param strokes number of strokes to execute
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* @param radius radius of circle
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*/
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static void circle(
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__attribute__((unused)) point_t const &start,
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__attribute__((unused)) point_t const &middle,
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__attribute__((unused)) uint8_t const &strokes,
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__attribute__((unused)) float const &radius
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) __attribute__((optimize ("Os")));
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public:
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/**
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@ -153,54 +97,13 @@ class Nozzle {
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static void clean(
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__attribute__((unused)) uint8_t const &pattern,
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__attribute__((unused)) uint8_t const &strokes,
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__attribute__((unused)) float const &radius,
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__attribute__((unused)) uint8_t const &objects = 0
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) __attribute__((optimize ("Os"))) {
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#if ENABLED(NOZZLE_CLEAN_FEATURE)
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#if ENABLED(DELTA)
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if (current_position[Z_AXIS] > delta_clip_start_height)
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do_blocking_move_to_z(delta_clip_start_height);
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#endif
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switch (pattern) {
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case 1:
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Nozzle::zigzag(
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NOZZLE_CLEAN_START_POINT,
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NOZZLE_CLEAN_END_POINT, strokes, objects);
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break;
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default:
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Nozzle::stroke(
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NOZZLE_CLEAN_START_POINT,
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NOZZLE_CLEAN_END_POINT, strokes);
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}
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#endif // NOZZLE_CLEAN_FEATURE
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}
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) __attribute__((optimize ("Os")));
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static void park(
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__attribute__((unused)) uint8_t const &z_action
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) __attribute__((optimize ("Os"))) {
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#if ENABLED(NOZZLE_PARK_FEATURE)
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float const z = current_position[Z_AXIS];
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point_t const park = NOZZLE_PARK_POINT;
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switch(z_action) {
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case 1: // force Z-park height
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do_blocking_move_to_z(park.z);
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break;
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case 2: // Raise by Z-park height
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do_blocking_move_to_z(
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(z + park.z > Z_MAX_POS) ? Z_MAX_POS : z + park.z);
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break;
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default: // Raise to Z-park height if lower
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if (current_position[Z_AXIS] < park.z)
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do_blocking_move_to_z(park.z);
|
||||
}
|
||||
|
||||
do_blocking_move_to_xy(park.x, park.y);
|
||||
|
||||
#endif // NOZZLE_PARK_FEATURE
|
||||
}
|
||||
) __attribute__((optimize ("Os")));
|
||||
};
|
||||
|
||||
#endif
|
||||
|
Loading…
Reference in New Issue
Block a user