Merge pull request #4010 from thinkyhead/rc_toolchange_adjust
Fixup position adjustment on toolchange
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da90bbe0eb
@ -6686,6 +6686,35 @@ inline void gcode_T(uint8_t tmp_extruder) {
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}
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// No extra case for AUTO_BED_LEVELING_FEATURE in DUAL_X_CARRIAGE. Does that mean they don't work together?
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#else // !DUAL_X_CARRIAGE
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//
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// Set current_position to the position of the new nozzle.
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// Offsets are based on linear distance, so we need to get
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// the resulting position in coordinate space.
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//
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// - With grid or 3-point leveling, offset XYZ by a tilted vector
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// - With mesh leveling, update Z for the new position
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// - Otherwise, just use the raw linear distance
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//
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// Software endstops are altered here too. Consider a case where:
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// E0 at X=0 ... E1 at X=10
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// When we switch to E1 now X=10, but E1 can't move left.
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// To express this we apply the change in XY to the software endstops.
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// E1 can move farther right than E0, so the right limit is extended.
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//
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// Note that we don't adjust the Z software endstops. Why not?
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// Consider a case where Z=0 (here) and switching to E1 makes Z=1
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// because the bed is 1mm lower at the new position. As long as
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// the first nozzle is out of the way, the carriage should be
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// allowed to move 1mm lower. This technically "breaks" the
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// Z software endstop. But this is technically correct (and
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// there is no viable alternative).
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//
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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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#if ENABLED(AUTO_BED_LEVELING_FEATURE)
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// Offset extruder, make sure to apply the bed level rotation matrix
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vector_3 tmp_offset_vec = vector_3(hotend_offset[X_AXIS][tmp_extruder],
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@ -6721,17 +6750,26 @@ inline void gcode_T(uint8_t tmp_extruder) {
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}
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#endif
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#else // !AUTO_BED_LEVELING_FEATURE
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#elif ENABLED(MESH_BED_LEVELING)
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// The newly-selected extruder is actually at...
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for (int i=X_AXIS; i<=Y_AXIS; i++) {
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float diff = hotend_offset[i][tmp_extruder] - hotend_offset[i][active_extruder];
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current_position[i] += diff;
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position_shift[i] += diff; // Offset the coordinate space
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update_software_endstops((AxisEnum)i);
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if (mbl.active()) {
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float xpos = current_position[X_AXIS] - home_offset[X_AXIS],
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ypos = current_position[Y_AXIS] - home_offset[Y_AXIS];
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current_position[Z_AXIS] += mbl.get_z(xpos + xydiff[X_AXIS], ypos + xydiff[Y_AXIS]) - mbl.get_z(xpos, ypos);
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}
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#endif // !AUTO_BED_LEVELING_FEATURE
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#else // no bed leveling
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// The newly-selected extruder XY is actually at...
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current_position[X_AXIS] += xydiff[X_AXIS];
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current_position[Y_AXIS] += xydiff[Y_AXIS];
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#endif // no bed leveling
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for (uint8_t i = X_AXIS; i <= Y_AXIS; i++) {
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position_shift[i] += xydiff[i];
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update_software_endstops((AxisEnum)i);
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}
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// Set the new active extruder
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active_extruder = tmp_extruder;
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