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Merge pull request #4010 from thinkyhead/rc_toolchange_adjust

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Fixup position adjustment on toolchange
This commit is contained in:
Scott Lahteine 2016-06-15 21:10:33 -07:00 committed by GitHub
commit da90bbe0eb
1 changed files with 46 additions and 8 deletions
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54
Marlin/Marlin_main.cpp
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@ -6686,6 +6686,35 @@ inline void gcode_T(uint8_t tmp_extruder) {
}
// No extra case for AUTO_BED_LEVELING_FEATURE in DUAL_X_CARRIAGE. Does that mean they don't work together?
#else // !DUAL_X_CARRIAGE
//
// Set current_position to the position of the new nozzle.
// Offsets are based on linear distance, so we need to get
// the resulting position in coordinate space.
//
// - With grid or 3-point leveling, offset XYZ by a tilted vector
// - With mesh leveling, update Z for the new position
// - Otherwise, just use the raw linear distance
//
// Software endstops are altered here too. Consider a case where:
// E0 at X=0 ... E1 at X=10
// When we switch to E1 now X=10, but E1 can't move left.
// To express this we apply the change in XY to the software endstops.
// E1 can move farther right than E0, so the right limit is extended.
//
// Note that we don't adjust the Z software endstops. Why not?
// Consider a case where Z=0 (here) and switching to E1 makes Z=1
// because the bed is 1mm lower at the new position. As long as
// the first nozzle is out of the way, the carriage should be
// allowed to move 1mm lower. This technically "breaks" the
// Z software endstop. But this is technically correct (and
// there is no viable alternative).
//
float xydiff[2] = {
hotend_offset[X_AXIS][tmp_extruder] - hotend_offset[X_AXIS][active_extruder],
hotend_offset[Y_AXIS][tmp_extruder] - hotend_offset[Y_AXIS][active_extruder]
};
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
// Offset extruder, make sure to apply the bed level rotation matrix
vector_3 tmp_offset_vec = vector_3(hotend_offset[X_AXIS][tmp_extruder],
@ -6721,17 +6750,26 @@ inline void gcode_T(uint8_t tmp_extruder) {
}
#endif
#else // !AUTO_BED_LEVELING_FEATURE
#elif ENABLED(MESH_BED_LEVELING)
// The newly-selected extruder is actually at...
for (int i=X_AXIS; i<=Y_AXIS; i++) {
float diff = hotend_offset[i][tmp_extruder] - hotend_offset[i][active_extruder];
current_position[i] += diff;
position_shift[i] += diff; // Offset the coordinate space
update_software_endstops((AxisEnum)i);
if (mbl.active()) {
float xpos = current_position[X_AXIS] - home_offset[X_AXIS],
ypos = current_position[Y_AXIS] - home_offset[Y_AXIS];
current_position[Z_AXIS] += mbl.get_z(xpos + xydiff[X_AXIS], ypos + xydiff[Y_AXIS]) - mbl.get_z(xpos, ypos);
}
#endif // !AUTO_BED_LEVELING_FEATURE
#else // no bed leveling
// The newly-selected extruder XY is actually at...
current_position[X_AXIS] += xydiff[X_AXIS];
current_position[Y_AXIS] += xydiff[Y_AXIS];
#endif // no bed leveling
for (uint8_t i = X_AXIS; i <= Y_AXIS; i++) {
position_shift[i] += xydiff[i];
update_software_endstops((AxisEnum)i);
}
// Set the new active extruder
active_extruder = tmp_extruder;