From 4217e9653e4f5dae457948f7e10da0a80eedd7a1 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Mon, 7 Nov 2016 00:21:45 -0600 Subject: [PATCH] Adjust park code in tool_change --- Marlin/Marlin_main.cpp | 76 +++++++++++++++++++++++++++--------------- 1 file changed, 50 insertions(+), 26 deletions(-) diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index cdb8e62df3..7fbc4f6c2f 100755 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -1416,6 +1416,7 @@ static void set_home_offset(AxisEnum axis, float v) { * current_position to home, because neither X nor Y is at home until * both are at home. Z can however be homed individually. * + * Callers must sync the planner position after calling this! */ static void set_axis_is_at_home(AxisEnum axis) { #if ENABLED(DEBUG_LEVELING_FEATURE) @@ -3246,10 +3247,12 @@ inline void gcode_G4() { #endif ) ) { + #if HOMING_Z_WITH_PROBE destination[X_AXIS] -= X_PROBE_OFFSET_FROM_EXTRUDER; destination[Y_AXIS] -= Y_PROBE_OFFSET_FROM_EXTRUDER; #endif + #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) DEBUG_POS("Z_SAFE_HOMING", destination); #endif @@ -3407,20 +3410,31 @@ inline void gcode_G28() { // Home X if (home_all_axis || homeX) { + #if ENABLED(DUAL_X_CARRIAGE) - int tmp_extruder = active_extruder; - active_extruder = !active_extruder; + + // Always home the 2nd (right) extruder first + active_extruder = 1; HOMEAXIS(X); + + // Remember this extruder's position for later tool change inactive_extruder_x_pos = RAW_X_POSITION(current_position[X_AXIS]); - active_extruder = tmp_extruder; + + // Home the 1st (left) extruder + active_extruder = 0; HOMEAXIS(X); - // reset state used by the different modes + + // Consider the active extruder to be parked memcpy(raised_parked_position, current_position, sizeof(raised_parked_position)); delayed_move_time = 0; active_extruder_parked = true; + #else + HOMEAXIS(X); + #endif + #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) DEBUG_POS("> homeX", current_position); #endif @@ -7446,10 +7460,8 @@ inline void invalid_extruder_error(const uint8_t &e) { void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool no_move/*=false*/) { #if ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1 - if (tmp_extruder >= MIXING_VIRTUAL_TOOLS) { - invalid_extruder_error(tmp_extruder); - return; - } + if (tmp_extruder >= MIXING_VIRTUAL_TOOLS) + return invalid_extruder_error(tmp_extruder); // T0-Tnnn: Switch virtual tool by changing the mix for (uint8_t j = 0; j < MIXING_STEPPERS; j++) @@ -7459,10 +7471,8 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n #if HOTENDS > 1 - if (tmp_extruder >= EXTRUDERS) { - invalid_extruder_error(tmp_extruder); - return; - } + if (tmp_extruder >= EXTRUDERS) + return invalid_extruder_error(tmp_extruder); float old_feedrate_mm_s = feedrate_mm_s; @@ -7490,22 +7500,28 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n } #endif - if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE && IsRunning() && - (delayed_move_time || current_position[X_AXIS] != x_home_pos(active_extruder)) + const float xhome = x_home_pos(active_extruder); + if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE + && IsRunning() + && (delayed_move_time || current_position[X_AXIS] != xhome) ) { + float raised_z = current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT; + #if ENABLED(max_software_endstops) + NOMORE(raised_z, soft_endstop_max[Z_AXIS]); + #endif #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) { - SERIAL_ECHOPAIR("Raise to ", current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT); SERIAL_EOL; - SERIAL_ECHOPAIR("MoveX to ", x_home_pos(active_extruder)); SERIAL_EOL; - SERIAL_ECHOPAIR("Lower to ", current_position[Z_AXIS]); SERIAL_EOL; + SERIAL_ECHOLNPAIR("Raise to ", raised_z); + SERIAL_ECHOLNPAIR("MoveX to ", xhome); + SERIAL_ECHOLNPAIR("Lower to ", current_position[Z_AXIS]); } #endif // Park old head: 1) raise 2) move to park position 3) lower for (uint8_t i = 0; i < 3; i++) planner.buffer_line( - i == 0 ? current_position[X_AXIS] : x_home_pos(active_extruder), + i == 0 ? current_position[X_AXIS] : xhome, current_position[Y_AXIS], - current_position[Z_AXIS] + (i == 2 ? 0 : TOOLCHANGE_PARK_ZLIFT), + i == 2 ? current_position[Z_AXIS] : raised_z, current_position[E_AXIS], planner.max_feedrate_mm_s[i == 1 ? X_AXIS : Z_AXIS], active_extruder @@ -7513,9 +7529,11 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n stepper.synchronize(); } - // apply Y & Z extruder offset (x offset is already used in determining home pos) + // Apply Y & Z extruder offset (X offset is used as home pos with Dual X) current_position[Y_AXIS] -= hotend_offset[Y_AXIS][active_extruder] - hotend_offset[Y_AXIS][tmp_extruder]; current_position[Z_AXIS] -= hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder]; + + // Activate the new extruder active_extruder = tmp_extruder; // This function resets the max/min values - the current position may be overwritten below. @@ -7530,7 +7548,9 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n switch (dual_x_carriage_mode) { case DXC_FULL_CONTROL_MODE: + // New current position is the position of the activated extruder current_position[X_AXIS] = LOGICAL_X_POSITION(inactive_extruder_x_pos); + // Save the inactive extruder's position (from the old current_position) inactive_extruder_x_pos = RAW_X_POSITION(destination[X_AXIS]); break; case DXC_AUTO_PARK_MODE: @@ -7544,7 +7564,10 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n delayed_move_time = 0; break; case DXC_DUPLICATION_MODE: - active_extruder_parked = (active_extruder == 0); // this triggers the second extruder to move into the duplication position + // If the new extruder is the left one, set it "parked" + // This triggers the second extruder to move into the duplication position + active_extruder_parked = (active_extruder == 0); + if (active_extruder_parked) current_position[X_AXIS] = LOGICAL_X_POSITION(inactive_extruder_x_pos); else @@ -7569,9 +7592,7 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n float z_diff = hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder], z_raise = 0.3 + (z_diff > 0.0 ? z_diff : 0.0); - set_destination_to_current(); - - // Always raise by some amount + // Always raise by some amount (destination copied from current_position earlier) destination[Z_AXIS] += z_raise; planner.buffer_line_kinematic(destination, planner.max_feedrate_mm_s[Z_AXIS], active_extruder); stepper.synchronize(); @@ -9260,8 +9281,11 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) { current_position[Z_AXIS], current_position[E_AXIS] ); - planner.buffer_line(current_position[X_AXIS] + duplicate_extruder_x_offset, - current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], planner.max_feedrate_mm_s[X_AXIS], 1); + planner.buffer_line( + current_position[X_AXIS] + duplicate_extruder_x_offset, + current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], + planner.max_feedrate_mm_s[X_AXIS], 1 + ); SYNC_PLAN_POSITION_KINEMATIC(); stepper.synchronize(); extruder_duplication_enabled = true;