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This commit is contained in:
Erik van der Zalm 2011-12-12 20:35:46 +01:00
commit 84d9cf7339
12 changed files with 358 additions and 203 deletions
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32
Marlin/Configuration.h
View File

@ -20,9 +20,6 @@
// if unwanted behavior is observed on a user's machine when running at very slow speeds.
#define MINIMUM_PLANNER_SPEED 2.0 // (mm/sec)
// If defined the movements slow down when the look ahead buffer is only half full
#define SLOWDOWN
// BASIC SETTINGS: select your board type, thermistor type, axis scaling, and endstop configuration
//// The following define selects which electronics board you have. Please choose the one that matches your setup
@ -65,11 +62,11 @@
#define BED_CHECK_INTERVAL 5000 //ms
//// Experimental watchdog and minimal temp
// The watchdog waits for the watchperiod in milliseconds whenever an M104 or M109 increases the target temperature
// If the temperature has not increased at the end of that period, the target temperature is set to zero. It can be reset with another M104/M109
/// CURRENTLY NOT IMPLEMENTED AND UNUSEABLE
//#define WATCHPERIOD 5000 //5 seconds
//// Heating sanity check:
// This waits for the watchperiod in milliseconds whenever an M104 or M109 increases the target temperature
// If the temperature has not increased at the end of that period, the target temperature is set to zero.
// It can be reset with another M104/M109
//#define WATCHPERIOD 20000 //20 seconds
// Actual temperature must be close to target for this long before M109 returns success
#define TEMP_RESIDENCY_TIME 30 // (seconds)
@ -163,6 +160,14 @@
#endif
#endif // PIDTEMP
// extruder run-out prevention.
//if the machine is idle, and the temperature over MINTEMP, every couple of SECONDS some filament is extruded
//#define EXTRUDER_RUNOUT_PREVENT
#define EXTRUDER_RUNOUT_MINTEMP 190
#define EXTRUDER_RUNOUT_SECONDS 30.
#define EXTRUDER_RUNOUT_ESTEPS 14. //mm filament
#define EXTRUDER_RUNOUT_SPEED 1500. //extrusion speed
//===========================================================================
//=============================Mechanical Settings===========================
@ -250,7 +255,12 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
#define DEFAULT_XYJERK 20.0 // (mm/sec)
#define DEFAULT_ZJERK 0.4 // (mm/sec)
// If defined the movements slow down when the look ahead buffer is only half full
#define SLOWDOWN
//default stepper release if idle
#define DEFAULT_STEPPER_DEACTIVE_TIME 60
#define DEFAULT_STEPPER_DEACTIVE_COMMAND "M84 X Y E" //z stays powered
//===========================================================================
@ -303,6 +313,7 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
//#define ULTRA_LCD //general lcd support, also 16x2
//#define SDSUPPORT // Enable SD Card Support in Hardware Console
#define SD_FINISHED_STEPPERRELEASE true //if sd support and the file is finished: disable steppers?
#define SD_FINISHED_RELEASECOMMAND "M84 X Y E" // no z because of layer shift.
#define ULTIPANEL
#ifdef ULTIPANEL
@ -339,6 +350,11 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
#define AUTOTEMP_OLDWEIGHT 0.98
#endif
//this prevents dangerous Extruder moves, i.e. if the temperature is under the limit
//can be software-disabled for whatever purposes by
#define PREVENT_DANGEROUS_EXTRUDE
#define EXTRUDE_MINTEMP 190
#define EXTRUDE_MAXLENGTH (X_MAX_LENGTH+Y_MAX_LENGTH) //prevent extrusion of very large distances.
const int dropsegments=5; //everything with less than this number of steps will be ignored as move and joined with the next movement

2
Marlin/Marlin.h
View File

@ -4,6 +4,7 @@
// Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware.
// Licence: GPL
#define HardwareSerial_h // trick to disable the standard HWserial
#include <stdio.h>
#include <math.h>
#if ARDUINO >= 100
#include "Arduino.h"
@ -147,6 +148,7 @@ extern float homing_feedrate[];
extern bool axis_relative_modes[];
extern float current_position[NUM_AXIS] ;
extern float add_homeing[3];
extern bool stop_heating_wait;
// Handling multiple extruders pins
extern uint8_t active_extruder;

133
Marlin/Marlin.pde
View File

@ -27,6 +27,8 @@
#include <math.h>
#include <EEPROM.h>
#include <stdio.h>
#include "EEPROMwrite.h"
#include "fastio.h"
#include "Configuration.h"
@ -39,7 +41,7 @@
#include "motion_control.h"
#include "cardreader.h"
#include "watchdog.h"
#include <stdio.h>
#define VERSION_STRING "1.0.0 Beta 1"
@ -108,6 +110,7 @@
// M206 - set additional homeing offset
// M220 - set speed factor override percentage S:factor in percent
// M301 - Set PID parameters P I and D
// M302 - Allow cold extrudes
// M400 - Finish all moves
// M500 - stores paramters in EEPROM
// M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
@ -135,7 +138,7 @@ volatile bool feedmultiplychanged=false;
float current_position[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0 };
float add_homeing[3]={0,0,0};
uint8_t active_extruder = 0;
bool stop_heating_wait=false;
//===========================================================================
//=============================private variables=============================
@ -175,7 +178,8 @@ const int sensitive_pins[] = SENSITIVE_PINS; // Sensitive pin list for M42
//Inactivity shutdown variables
static unsigned long previous_millis_cmd = 0;
static unsigned long max_inactive_time = 0;
static unsigned long stepper_inactive_time = 0;
static unsigned long stepper_inactive_time = DEFAULT_STEPPER_DEACTIVE_TIME*1000;
static unsigned long last_stepperdisabled_time=30*1000; //first release check after 30 seconds
static unsigned long starttime=0;
static unsigned long stoptime=0;
@ -232,7 +236,9 @@ void setup()
SERIAL_PROTOCOLLNPGM("start");
SERIAL_ECHO_START;
SERIAL_ECHOPGM("Free Memory:");
SERIAL_ECHOLN(freeMemory());
SERIAL_ECHO(freeMemory());
SERIAL_ECHOPGM(" PlannerBufferBytes:");
SERIAL_ECHOLN((int)sizeof(block_t)*BLOCK_BUFFER_SIZE);
for(int8_t i = 0; i < BUFSIZE; i++)
{
fromsd[i] = false;
@ -498,19 +504,16 @@ FORCE_INLINE void process_commands()
case 1: // G1
get_coordinates(); // For X Y Z E F
prepare_move();
previous_millis_cmd = millis();
//ClearToSend();
return;
//break;
case 2: // G2 - CW ARC
get_arc_coordinates();
prepare_arc_move(true);
previous_millis_cmd = millis();
return;
case 3: // G3 - CCW ARC
get_arc_coordinates();
prepare_arc_move(false);
previous_millis_cmd = millis();
return;
case 4: // G4 dwell
LCD_MESSAGEPGM("DWELL...");
@ -520,7 +523,7 @@ FORCE_INLINE void process_commands()
st_synchronize();
codenum += millis(); // keep track of when we started waiting
previous_millis_cmd = millis();
while(millis() < codenum ){
manage_heater();
}
@ -540,33 +543,52 @@ FORCE_INLINE void process_commands()
#ifdef QUICK_HOME
if( code_seen(axis_codes[0]) && code_seen(axis_codes[1]) ) //first diagonal move
{
current_position[X_AXIS] = 0; current_position[Y_AXIS] = 0;
current_position[X_AXIS] = 0;current_position[Y_AXIS] = 0;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[X_AXIS] = 1.5 * X_MAX_LENGTH * X_HOME_DIR;
destination[Y_AXIS] = 1.5 * Y_MAX_LENGTH * Y_HOME_DIR;
feedrate =homing_feedrate[X_AXIS];
destination[X_AXIS] = 1.5 * X_MAX_LENGTH * X_HOME_DIR;destination[Y_AXIS] = 1.5 * Y_MAX_LENGTH * Y_HOME_DIR;
feedrate = homing_feedrate[X_AXIS];
if(homing_feedrate[Y_AXIS]<feedrate)
feedrate =homing_feedrate[Y_AXIS];
prepare_move();
current_position[X_AXIS] = 0; current_position[Y_AXIS] = 0;
current_position[X_AXIS] = (X_HOME_DIR == -1) ? 0 : X_MAX_LENGTH;
current_position[Y_AXIS] = (Y_HOME_DIR == -1) ? 0 : Y_MAX_LENGTH;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[X_AXIS] = current_position[X_AXIS];
destination[Y_AXIS] = current_position[Y_AXIS];
feedrate = 0.0;
st_synchronize();
plan_set_position(0, 0, current_position[Z_AXIS], current_position[E_AXIS]);
current_position[X_AXIS] = 0;current_position[Y_AXIS] = 0;
endstops_hit_on_purpose();
}
#endif
if((home_all_axis) || (code_seen(axis_codes[X_AXIS])))
{
HOMEAXIS(X);
current_position[0]=code_value()+add_homeing[0];
}
if((home_all_axis) || (code_seen(axis_codes[Y_AXIS]))) {
HOMEAXIS(Y);
current_position[1]=code_value()+add_homeing[1];
}
if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
HOMEAXIS(Z);
current_position[2]=code_value()+add_homeing[2];
}
if(code_seen(axis_codes[X_AXIS]))
{
current_position[0]=code_value()+add_homeing[0];
}
if(code_seen(axis_codes[Y_AXIS])) {
current_position[1]=code_value()+add_homeing[1];
}
if(code_seen(axis_codes[Z_AXIS])) {
current_position[2]=code_value()+add_homeing[2];
}
#ifdef ENDSTOPS_ONLY_FOR_HOMING
enable_endstops(false);
@ -817,6 +839,7 @@ FORCE_INLINE void process_commands()
}
manage_heater();
LCD_STATUS;
if(stop_heating_wait) break;
#ifdef TEMP_RESIDENCY_TIME
/* start/restart the TEMP_RESIDENCY_TIME timer whenever we reach target temp for the first time
or when current temp falls outside the hysteresis after target temp was reached */
@ -830,6 +853,7 @@ FORCE_INLINE void process_commands()
}
LCD_MESSAGEPGM("Heating done.");
starttime=millis();
previous_millis_cmd = millis();
}
break;
case 190: // M190 - Wait for bed heater to reach target.
@ -853,6 +877,7 @@ FORCE_INLINE void process_commands()
manage_heater();
}
LCD_MESSAGEPGM("Bed done.");
previous_millis_cmd = millis();
#endif
break;
@ -896,20 +921,25 @@ FORCE_INLINE void process_commands()
}
else
{
#if ((E_ENABLE_PIN != X_ENABLE_PIN) && (E_ENABLE_PIN != Y_ENABLE_PIN)) // Only enable on boards that have seperate ENABLE_PINS
if(code_seen('E')) {
st_synchronize();
LCD_MESSAGEPGM("Free Move");
bool all_axis = !((code_seen(axis_codes[0])) || (code_seen(axis_codes[1])) || (code_seen(axis_codes[2]))|| (code_seen(axis_codes[3])));
if(all_axis)
{
disable_e0();
disable_e1();
disable_e2();
}
else {
finishAndDisableSteppers();
}
#else
finishAndDisableSteppers();
#endif
else
{
st_synchronize();
if(code_seen('X')) disable_x();
if(code_seen('Y')) disable_y();
if(code_seen('Z')) disable_z();
#if ((E_ENABLE_PIN != X_ENABLE_PIN) && (E_ENABLE_PIN != Y_ENABLE_PIN)) // Only enable on boards that have seperate ENABLE_PINS
if(code_seen('E')) disable_e();
#endif
LCD_MESSAGEPGM("Partial Release");
}
}
break;
case 85: // M85
@ -979,7 +1009,11 @@ FORCE_INLINE void process_commands()
case 201: // M201
for(int8_t i=0; i < NUM_AXIS; i++)
{
if(code_seen(axis_codes[i])) axis_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i];
if(code_seen(axis_codes[i]))
{
max_acceleration_units_per_sq_second[i] = code_value();
axis_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i];
}
}
break;
#if 0 // Not used for Sprinter/grbl gen6
@ -1049,6 +1083,12 @@ FORCE_INLINE void process_commands()
}
break;
#endif //PIDTEMP
case 302: // finish all moves
{
allow_cold_extrudes(true);
}
break;
case 400: // finish all moves
{
st_synchronize();
@ -1146,6 +1186,7 @@ FORCE_INLINE void get_arc_coordinates()
void prepare_move()
{
if (min_software_endstops) {
if (destination[X_AXIS] < 0) destination[X_AXIS] = 0.0;
if (destination[Y_AXIS] < 0) destination[Y_AXIS] = 0.0;
@ -1162,6 +1203,7 @@ void prepare_move()
for(int8_t i=0; i < NUM_AXIS; i++) {
current_position[i] = destination[i];
}
previous_millis_cmd = millis();
}
void prepare_arc_move(char isclockwise) {
@ -1176,6 +1218,7 @@ void prepare_arc_move(char isclockwise) {
for(int8_t i=0; i < NUM_AXIS; i++) {
current_position[i] = destination[i];
}
previous_millis_cmd = millis();
}
void manage_inactivity(byte debug)
@ -1183,16 +1226,38 @@ void manage_inactivity(byte debug)
if( (millis()-previous_millis_cmd) > max_inactive_time )
if(max_inactive_time)
kill();
if( (millis()-previous_millis_cmd) > stepper_inactive_time )
if(stepper_inactive_time)
if(stepper_inactive_time)
if( (millis()-last_stepperdisabled_time) > stepper_inactive_time )
{
if(previous_millis_cmd>last_stepperdisabled_time)
last_stepperdisabled_time=previous_millis_cmd;
else
{
disable_x();
disable_y();
disable_z();
disable_e0();
disable_e1();
disable_e2();
if( (X_ENABLE_ON && (READ(X_ENABLE_PIN)!=0)) || (!X_ENABLE_ON && READ(X_ENABLE_PIN)==0) )
enquecommand(DEFAULT_STEPPER_DEACTIVE_COMMAND);
last_stepperdisabled_time=millis();
}
}
#ifdef EXTRUDER_RUNOUT_PREVENT
if( (millis()-previous_millis_cmd) > EXTRUDER_RUNOUT_SECONDS*1000 )
if(degHotend(active_extruder)>EXTRUDER_RUNOUT_MINTEMP)
{
bool oldstatus=READ(E_ENABLE_PIN);
enable_e();
float oldepos=current_position[E_AXIS];
float oldedes=destination[E_AXIS];
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS],
current_position[E_AXIS]+EXTRUDER_RUNOUT_EXTRUDE*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS],
EXTRUDER_RUNOUT_SPEED/60.*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS], active_extruder);
current_position[E_AXIS]=oldepos;
destination[E_AXIS]=oldedes;
plan_set_e_position(oldepos);
previous_millis_cmd=millis();
//enquecommand(DEFAULT_STEPPER_DEACTIVE_COMMAND);
st_synchronize();
WRITE(E_ENABLE_PIN,oldstatus);
}
#endif
check_axes_activity();
}

1
Marlin/cardreader.h
View File

@ -44,6 +44,7 @@ public:
bool cardOK ;
char filename[11];
bool filenameIsDir;
int lastnr; //last number of the autostart;
private:
SdFile root,*curDir,workDir,workDirParent,workDirParentParent;
Sd2Card card;

8
Marlin/cardreader.pde
View File

@ -14,6 +14,7 @@ CardReader::CardReader()
autostart_atmillis=0;
autostart_stilltocheck=true; //the sd start is delayed, because otherwise the serial cannot answer fast enought to make contact with the hostsoftware.
lastnr=0;
//power to SD reader
#if SDPOWER > -1
SET_OUTPUT(SDPOWER);
@ -334,7 +335,7 @@ void CardReader::checkautostart(bool force)
if(!cardOK) //fail
return;
}
static int lastnr=0;
char autoname[30];
sprintf(autoname,"auto%i.g",lastnr);
for(int8_t i=0;i<(int)strlen(autoname);i++)
@ -431,10 +432,13 @@ void CardReader::updir()
void CardReader::printingHasFinished()
{
quickStop();
sdprinting = false;
stop_heating_wait=true;
if(SD_FINISHED_STEPPERRELEASE)
{
finishAndDisableSteppers();
//finishAndDisableSteppers();
enquecommand(SD_FINISHED_RELEASECOMMAND);
}
autotempShutdown();
}

26
Marlin/planner.cpp
View File

@ -103,7 +103,9 @@ volatile unsigned char block_buffer_tail; // Index of the block to pro
//===========================================================================
//=============================private variables ============================
//===========================================================================
#ifdef PREVENT_DANGEROUS_EXTRUDE
bool allow_cold_extrude=false;
#endif
#ifdef XY_FREQUENCY_LIMIT
// Used for the frequency limit
static unsigned char old_direction_bits = 0; // Old direction bits. Used for speed calculations
@ -464,6 +466,22 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
target[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]);
target[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]);
#ifdef PREVENT_DANGEROUS_EXTRUDE
if(target[E_AXIS]!=position[E_AXIS])
if(degHotend(active_extruder)<EXTRUDE_MINTEMP && !allow_cold_extrude)
{
position[E_AXIS]=target[E_AXIS]; //behave as if the move really took place, but ignore E part
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(" cold extrusion prevented");
}
if(labs(target[E_AXIS]-position[E_AXIS])>axis_steps_per_unit[E_AXIS]*EXTRUDE_MAXLENGTH)
{
position[E_AXIS]=target[E_AXIS]; //behave as if the move really took place, but ignore E part
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(" too long extrusion prevented");
}
#endif
// Prepare to set up new block
block_t *block = &block_buffer[block_buffer_head];
@ -778,3 +796,9 @@ uint8_t movesplanned()
return (block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1);
}
void allow_cold_extrudes(bool allow)
{
#ifdef PREVENT_DANGEROUS_EXTRUDE
allow_cold_extrude=allow;
#endif
}

12
Marlin/planner.h
View File

@ -128,4 +128,16 @@ FORCE_INLINE block_t *plan_get_current_block()
block->busy = true;
return(block);
}
// Gets the current block. Returns NULL if buffer empty
FORCE_INLINE bool blocks_queued()
{
if (block_buffer_head == block_buffer_tail) {
return false;
}
else
return true;
}
void allow_cold_extrudes(bool allow);
#endif

12
Marlin/stepper.cpp
View File

@ -757,10 +757,11 @@ void st_init()
sei();
}
// Block until all buffered steps are executed
void st_synchronize()
{
while(plan_get_current_block()) {
while( blocks_queued()) {
manage_heater();
manage_inactivity(1);
LCD_STATUS;
@ -804,3 +805,12 @@ void finishAndDisableSteppers()
disable_e1();
disable_e2();
}
void quickStop()
{
DISABLE_STEPPER_DRIVER_INTERRUPT();
while(blocks_queued())
plan_discard_current_block();
ENABLE_STEPPER_DRIVER_INTERRUPT();
}

2
Marlin/stepper.h
View File

@ -67,5 +67,5 @@ void finishAndDisableSteppers();
extern block_t *current_block; // A pointer to the block currently being traced
void quickStop();
#endif

15
Marlin/temperature.cpp
View File

@ -85,6 +85,7 @@ static unsigned long previous_millis_bed_heater;
#ifdef WATCHPERIOD
static int watch_raw[EXTRUDERS] = { -1000 }; // the first value used for all
static int watch_oldtemp[3] = {0,0,0};
static unsigned long watchmillis = 0;
#endif //WATCHPERIOD
@ -214,6 +215,19 @@ void manage_heater()
}
} // End extruder for loop
#ifdef WATCHPERIOD
if(watchmillis && millis() - watchmillis > WATCHPERIOD){
if(watch_oldtemp[TEMPSENSOR_HOTEND_0] >= degHotend(active_extruder)){
setTargetHotend(0,active_extruder);
LCD_MESSAGEPGM("Heating failed");
SERIAL_ECHO_START;
SERIAL_ECHOLN("Heating failed");
}else{
watchmillis = 0;
}
}
#endif
if(millis() - previous_millis_bed_heater < BED_CHECK_INTERVAL)
return;
previous_millis_bed_heater = millis();
@ -493,6 +507,7 @@ void setWatch()
for (int e = 0; e < EXTRUDERS; e++)
{
if(isHeatingHotend(e))
watch_oldtemp[TEMPSENSOR_HOTEND_0] = degHotend(0);
{
t = max(t,millis());
watch_raw[e] = current_raw[e];

7
Marlin/temperature.h
View File

@ -23,6 +23,7 @@
#include "Marlin.h"
#include "fastio.h"
#include "planner.h"
#ifdef PID_ADD_EXTRUSION_RATE
#include "stepper.h"
#endif
@ -48,10 +49,10 @@ extern float Kp,Ki,Kd,Kc;
extern float pid_setpoint[EXTRUDERS];
#endif
#ifdef WATCHPERIOD
// #ifdef WATCHPERIOD
extern int watch_raw[EXTRUDERS] ;
extern unsigned long watchmillis;
#endif
// extern unsigned long watchmillis;
// #endif
//high level conversion routines, for use outside of temperature.cpp

15
Marlin/ultralcd.pde
View File

@ -441,7 +441,7 @@ void MainMenu::showStatus()
force_lcd_update=false;
}
enum {ItemP_exit, ItemP_home, ItemP_origin, ItemP_preheat, ItemP_extrude, ItemP_disstep};
enum {ItemP_exit, ItemP_autostart,ItemP_disstep,ItemP_home, ItemP_origin, ItemP_preheat, ItemP_extrude};
//any action must not contain a ',' character anywhere, or this breaks:
#define MENUITEM(repaint_action, click_action) \
@ -462,6 +462,12 @@ void MainMenu::showPrepare()
case ItemP_exit:
MENUITEM( lcdprintPGM(" Main \003") , BLOCK;status=Main_Menu;beepshort(); ) ;
break;
case ItemP_autostart:
MENUITEM( lcdprintPGM(" Autostart") , BLOCK;card.lastnr=0;card.checkautostart(true);beepshort(); ) ;
break;
case ItemP_disstep:
MENUITEM( lcdprintPGM(" Disable Steppers") , BLOCK;enquecommand("M84");beepshort(); ) ;
break;
case ItemP_home:
MENUITEM( lcdprintPGM(" Auto Home") , BLOCK;enquecommand("G28 X-105 Y-105 Z0");beepshort(); ) ;
break;
@ -474,15 +480,14 @@ void MainMenu::showPrepare()
case ItemP_extrude:
MENUITEM( lcdprintPGM(" Extrude") , BLOCK;enquecommand("G92 E0");enquecommand("G1 F700 E50");beepshort(); ) ;
break;
case ItemP_disstep:
MENUITEM( lcdprintPGM(" Disable Steppers") , BLOCK;enquecommand("M84");beepshort(); ) ;
break;
default:
break;
}
line++;
}
updateActiveLines(ItemP_disstep,encoderpos);
updateActiveLines(ItemP_extrude,encoderpos);
}
enum {ItemT_exit,ItemT_speed,ItemT_flow,ItemT_nozzle,ItemT_fan};