|
@@ -135,11 +135,11 @@ inline void fast_line_to_current(const AxisEnum fr_axis) {
|
135
|
135
|
|
136
|
136
|
#if ENABLED(MAGNETIC_PARKING_EXTRUDER)
|
137
|
137
|
|
138
|
|
- float parkingposx[2] , // M951 R L
|
139
|
|
- parkinggrabdistance , // M951 I
|
140
|
|
- parkingslowspeed, // M951 J
|
141
|
|
- parkinghighspeed , // M951 H
|
142
|
|
- parkingtraveldistance, // M951 D
|
|
138
|
+ float parkingposx[2], // M951 R L
|
|
139
|
+ parkinggrabdistance, // M951 I
|
|
140
|
+ parkingslowspeed, // M951 J
|
|
141
|
+ parkinghighspeed, // M951 H
|
|
142
|
+ parkingtraveldistance, // M951 D
|
143
|
143
|
compensationmultiplier;
|
144
|
144
|
|
145
|
145
|
inline void magnetic_parking_extruder_tool_change(const uint8_t tmp_extruder) {
|
|
@@ -290,52 +290,50 @@ inline void fast_line_to_current(const AxisEnum fr_axis) {
|
290
|
290
|
|
291
|
291
|
// STEP 1
|
292
|
292
|
|
293
|
|
- if (DEBUGGING(LEVELING)) DEBUG_POS("Start Autopark", current_position);
|
|
293
|
+ if (DEBUGGING(LEVELING)) DEBUG_POS("Start PE Tool-Change", current_position);
|
294
|
294
|
|
295
|
295
|
current_position[X_AXIS] = parkingposx[active_extruder] + x_offset;
|
296
|
|
-
|
297
|
296
|
if (DEBUGGING(LEVELING)) {
|
298
|
297
|
DEBUG_ECHOLNPAIR("(1) Park extruder ", int(active_extruder));
|
299
|
298
|
DEBUG_POS("Moving ParkPos", current_position);
|
300
|
299
|
}
|
301
|
|
-
|
302
|
300
|
fast_line_to_current(X_AXIS);
|
303
|
|
- planner.synchronize();
|
304
|
301
|
|
305
|
302
|
// STEP 2
|
306
|
303
|
|
307
|
|
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(2) Disengage magnet ");
|
308
|
|
-
|
|
304
|
+ planner.synchronize();
|
|
305
|
+ if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(2) Disengage magnet");
|
309
|
306
|
pe_deactivate_solenoid(active_extruder);
|
310
|
307
|
|
311
|
308
|
// STEP 3
|
312
|
309
|
|
313
|
|
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(3) Move near new extruder");
|
314
|
|
-
|
315
|
310
|
current_position[X_AXIS] += active_extruder ? -10 : 10; // move 10mm away from parked extruder
|
316
|
|
-
|
317
|
|
- if (DEBUGGING(LEVELING)) DEBUG_POS("Move away from parked extruder", current_position);
|
318
|
|
-
|
|
311
|
+ if (DEBUGGING(LEVELING)) {
|
|
312
|
+ DEBUG_ECHOLNPGM("(3) Move near new extruder");
|
|
313
|
+ DEBUG_POS("Move away from parked extruder", current_position);
|
|
314
|
+ }
|
319
|
315
|
fast_line_to_current(X_AXIS);
|
320
|
|
- planner.synchronize();
|
321
|
316
|
|
322
|
317
|
// STEP 4
|
323
|
|
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(4) Engage magnetic field");
|
324
|
318
|
|
|
319
|
+ planner.synchronize();
|
|
320
|
+ if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(4) Engage magnetic field");
|
325
|
321
|
#if ENABLED(PARKING_EXTRUDER_SOLENOIDS_INVERT)
|
326
|
|
- pe_activate_solenoid(active_extruder); //just save power for inverted magnets
|
|
322
|
+ pe_activate_solenoid(active_extruder); // Just save power for inverted magnets
|
327
|
323
|
#endif
|
328
|
|
-
|
329
|
324
|
pe_activate_solenoid(tmp_extruder);
|
330
|
325
|
|
331
|
326
|
// STEP 5
|
332
|
327
|
|
333
|
328
|
current_position[X_AXIS] = grabpos + (tmp_extruder ? -10 : 10);
|
334
|
329
|
fast_line_to_current(X_AXIS);
|
|
330
|
+
|
335
|
331
|
current_position[X_AXIS] = grabpos;
|
336
|
|
- if (DEBUGGING(LEVELING)) DEBUG_POS("(5) Unpark extruder", current_position);
|
|
332
|
+ if (DEBUGGING(LEVELING)) {
|
|
333
|
+ planner.synchronize();
|
|
334
|
+ DEBUG_POS("(5) Unpark extruder", current_position);
|
|
335
|
+ }
|
337
|
336
|
planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[X_AXIS] * 0.5, active_extruder);
|
338
|
|
- planner.synchronize();
|
339
|
337
|
|
340
|
338
|
// STEP 6
|
341
|
339
|
|
|
@@ -344,13 +342,14 @@ inline void fast_line_to_current(const AxisEnum fr_axis) {
|
344
|
342
|
- hotend_offset[X_AXIS][tmp_extruder]
|
345
|
343
|
#endif
|
346
|
344
|
;
|
347
|
|
-
|
348
|
|
- if (DEBUGGING(LEVELING)) DEBUG_POS("(6) Move midway between hotends", current_position);
|
349
|
|
-
|
|
345
|
+ if (DEBUGGING(LEVELING)) {
|
|
346
|
+ planner.synchronize();
|
|
347
|
+ DEBUG_POS("(6) Move midway between hotends", current_position);
|
|
348
|
+ }
|
350
|
349
|
fast_line_to_current(X_AXIS);
|
351
|
|
- planner.synchronize();
|
|
350
|
+ planner.synchronize(); // Always sync the final move
|
352
|
351
|
|
353
|
|
- DEBUG_ECHOLNPGM("Autopark done.");
|
|
352
|
+ DEBUG_ECHOLNPGM("PE Tool-Change done.");
|
354
|
353
|
}
|
355
|
354
|
else { // nomove == true
|
356
|
355
|
// Only engage magnetic field for new extruder
|
|
@@ -383,86 +382,80 @@ inline void fast_line_to_current(const AxisEnum fr_axis) {
|
383
|
382
|
|
384
|
383
|
// 1. Move to switch position of current toolhead
|
385
|
384
|
|
386
|
|
- if (DEBUGGING(LEVELING)) DEBUG_POS("Starting Toolhead change", current_position);
|
|
385
|
+ if (DEBUGGING(LEVELING)) DEBUG_POS("Start ST Tool-Change", current_position);
|
387
|
386
|
|
388
|
387
|
current_position[X_AXIS] = placexpos;
|
389
|
|
-
|
390
|
388
|
if (DEBUGGING(LEVELING)) {
|
391
|
389
|
DEBUG_ECHOLNPAIR("(1) Place old tool ", int(active_extruder));
|
392
|
390
|
DEBUG_POS("Move X SwitchPos", current_position);
|
393
|
391
|
}
|
394
|
|
-
|
395
|
392
|
fast_line_to_current(X_AXIS);
|
396
|
|
- planner.synchronize();
|
397
|
|
-
|
398
|
|
- current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS - SWITCHING_TOOLHEAD_Y_SECURITY;
|
399
|
|
-
|
400
|
|
- if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos + Security", current_position);
|
401
|
393
|
|
|
394
|
+ current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS - (SWITCHING_TOOLHEAD_Y_SECURITY);
|
|
395
|
+ if (DEBUGGING(LEVELING)) {
|
|
396
|
+ planner.synchronize();
|
|
397
|
+ DEBUG_POS("Move Y SwitchPos + Security", current_position);
|
|
398
|
+ }
|
402
|
399
|
fast_line_to_current(Y_AXIS);
|
403
|
|
- planner.synchronize();
|
404
|
400
|
|
405
|
401
|
// 2. Unlock tool and drop it in the dock
|
406
|
402
|
|
|
403
|
+ planner.synchronize();
|
407
|
404
|
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(2) Unlock and Place Toolhead");
|
408
|
|
-
|
409
|
405
|
MOVE_SERVO(SWITCHING_TOOLHEAD_SERVO_NR, angles[1]);
|
410
|
406
|
safe_delay(500);
|
411
|
407
|
|
412
|
408
|
current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS;
|
413
|
|
-
|
414
|
409
|
if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos", current_position);
|
|
410
|
+ planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[Y_AXIS] * 0.5f, active_extruder);
|
415
|
411
|
|
416
|
|
- planner.buffer_line(current_position,(planner.settings.max_feedrate_mm_s[Y_AXIS] * 0.5), active_extruder);
|
|
412
|
+ // Wait for move to complete, then another 0.2s
|
417
|
413
|
planner.synchronize();
|
418
|
414
|
safe_delay(200);
|
419
|
|
- current_position[Y_AXIS] -= SWITCHING_TOOLHEAD_Y_CLEAR;
|
420
|
415
|
|
|
416
|
+ current_position[Y_AXIS] -= SWITCHING_TOOLHEAD_Y_CLEAR;
|
421
|
417
|
if (DEBUGGING(LEVELING)) DEBUG_POS("Move back Y clear", current_position);
|
422
|
|
-
|
423
|
418
|
fast_line_to_current(Y_AXIS); // move away from docked toolhead
|
424
|
|
- planner.synchronize();
|
425
|
419
|
|
426
|
420
|
// 3. Move to the new toolhead
|
427
|
421
|
|
428
|
|
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(3) Move to new toolhead position");
|
429
|
|
-
|
430
|
422
|
current_position[X_AXIS] = grabxpos;
|
431
|
|
-
|
432
|
|
- if (DEBUGGING(LEVELING)) DEBUG_POS("Move to new toolhead X", current_position);
|
433
|
|
-
|
|
423
|
+ if (DEBUGGING(LEVELING)) {
|
|
424
|
+ planner.synchronize();
|
|
425
|
+ DEBUG_ECHOLNPGM("(3) Move to new toolhead position");
|
|
426
|
+ DEBUG_POS("Move to new toolhead X", current_position);
|
|
427
|
+ }
|
434
|
428
|
fast_line_to_current(X_AXIS);
|
435
|
|
- planner.synchronize();
|
436
|
|
- current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS - SWITCHING_TOOLHEAD_Y_SECURITY;
|
437
|
|
-
|
438
|
|
- if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos + Security", current_position);
|
439
|
429
|
|
|
430
|
+ current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS - (SWITCHING_TOOLHEAD_Y_SECURITY);
|
|
431
|
+ if (DEBUGGING(LEVELING)) {
|
|
432
|
+ planner.synchronize();
|
|
433
|
+ DEBUG_POS("Move Y SwitchPos + Security", current_position);
|
|
434
|
+ }
|
440
|
435
|
fast_line_to_current(Y_AXIS);
|
441
|
|
- planner.synchronize();
|
442
|
436
|
|
443
|
437
|
// 4. Grab and lock the new toolhead
|
444
|
438
|
|
445
|
|
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(4) Grab and lock new toolhead ");
|
446
|
|
-
|
447
|
439
|
current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS;
|
448
|
|
-
|
449
|
|
- if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos", current_position);
|
450
|
|
-
|
|
440
|
+ if (DEBUGGING(LEVELING)) {
|
|
441
|
+ planner.synchronize();
|
|
442
|
+ DEBUG_ECHOLNPGM("(4) Grab and lock new toolhead");
|
|
443
|
+ DEBUG_POS("Move Y SwitchPos", current_position);
|
|
444
|
+ }
|
451
|
445
|
planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[Y_AXIS] * 0.5, active_extruder);
|
452
|
|
- planner.synchronize();
|
453
|
446
|
|
|
447
|
+ // Wait for move to finish, pause 0.2s, move servo, pause 0.5s
|
|
448
|
+ planner.synchronize();
|
454
|
449
|
safe_delay(200);
|
455
|
450
|
MOVE_SERVO(SWITCHING_TOOLHEAD_SERVO_NR, angles[0]);
|
456
|
451
|
safe_delay(500);
|
457
|
452
|
|
458
|
453
|
current_position[Y_AXIS] -= SWITCHING_TOOLHEAD_Y_CLEAR;
|
459
|
|
-
|
460
|
454
|
if (DEBUGGING(LEVELING)) DEBUG_POS("Move back Y clear", current_position);
|
|
455
|
+ fast_line_to_current(Y_AXIS); // Move away from docked toolhead
|
|
456
|
+ planner.synchronize(); // Always sync the final move
|
461
|
457
|
|
462
|
|
- fast_line_to_current(Y_AXIS); // move away from docked toolhead
|
463
|
|
- planner.synchronize();
|
464
|
|
-
|
465
|
|
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Toolhead change done.");
|
|
458
|
+ if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("ST Tool-Change done.");
|
466
|
459
|
}
|
467
|
460
|
|
468
|
461
|
#elif ENABLED(MAGNETIC_SWITCHING_TOOLHEAD)
|