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Merge pull request #3620 from Blue-Marlin/feedrate_atfer_toolchange

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2.0.x
Scott Lahteine 9 years ago
parent d58c5ac446 e58e281473
commit ad0f70f2f3
1 changed files with 112 additions and 109 deletions
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221
Marlin/Marlin_main.cpp
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@ -6304,131 +6304,134 @@ inline void gcode_T(uint8_t tmp_extruder) {
SERIAL_CHAR('T');
SERIAL_PROTOCOL_F(tmp_extruder, DEC);
SERIAL_ECHOLN(MSG_INVALID_EXTRUDER);
return;
}
else {
target_extruder = tmp_extruder;
#if EXTRUDERS > 1
bool make_move = false;
float stored_feedrate = feedrate;
if (code_seen('F')) {
float next_feedrate = code_value();
if (next_feedrate > 0.0) stored_feedrate = feedrate = next_feedrate;
}
else {
#ifdef XY_TRAVEL_SPEED
feedrate = XY_TRAVEL_SPEED;
#else
feedrate = min(max_feedrate[X_AXIS], max_feedrate[Y_AXIS]);
#endif
}
if (code_seen('F')) {
#if EXTRUDERS > 1
if (tmp_extruder != active_extruder) {
// Save current position to return to after applying extruder offset
set_destination_to_current();
#if ENABLED(DUAL_X_CARRIAGE)
if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE && IsRunning() &&
(delayed_move_time || current_position[X_AXIS] != x_home_pos(active_extruder))) {
// Park old head: 1) raise 2) move to park position 3) lower
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT,
current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder);
plan_buffer_line(x_home_pos(active_extruder), current_position[Y_AXIS], current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT,
current_position[E_AXIS], max_feedrate[X_AXIS], active_extruder);
plan_buffer_line(x_home_pos(active_extruder), current_position[Y_AXIS], current_position[Z_AXIS],
current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder);
st_synchronize();
}
#if EXTRUDERS > 1
make_move = true;
#endif
// apply Y & Z extruder offset (x offset is already used in determining home pos)
current_position[Y_AXIS] -= extruder_offset[Y_AXIS][active_extruder] - extruder_offset[Y_AXIS][tmp_extruder];
current_position[Z_AXIS] -= extruder_offset[Z_AXIS][active_extruder] - extruder_offset[Z_AXIS][tmp_extruder];
active_extruder = tmp_extruder;
float next_feedrate = code_value();
if (next_feedrate > 0.0) feedrate = next_feedrate;
}
#if EXTRUDERS > 1
if (tmp_extruder != active_extruder) {
// Save current position to return to after applying extruder offset
set_destination_to_current();
#if ENABLED(DUAL_X_CARRIAGE)
if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE && IsRunning() &&
(delayed_move_time || current_position[X_AXIS] != x_home_pos(active_extruder))) {
// Park old head: 1) raise 2) move to park position 3) lower
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT,
current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder);
plan_buffer_line(x_home_pos(active_extruder), current_position[Y_AXIS], current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT,
current_position[E_AXIS], max_feedrate[X_AXIS], active_extruder);
plan_buffer_line(x_home_pos(active_extruder), current_position[Y_AXIS], current_position[Z_AXIS],
current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder);
st_synchronize();
}
// This function resets the max/min values - the current position may be overwritten below.
set_axis_is_at_home(X_AXIS);
// apply Y & Z extruder offset (x offset is already used in determining home pos)
current_position[Y_AXIS] -= extruder_offset[Y_AXIS][active_extruder] - extruder_offset[Y_AXIS][tmp_extruder];
current_position[Z_AXIS] -= extruder_offset[Z_AXIS][active_extruder] - extruder_offset[Z_AXIS][tmp_extruder];
active_extruder = tmp_extruder;
if (dual_x_carriage_mode == DXC_FULL_CONTROL_MODE) {
current_position[X_AXIS] = inactive_extruder_x_pos;
inactive_extruder_x_pos = destination[X_AXIS];
}
else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE) {
active_extruder_parked = (active_extruder == 0); // this triggers the second extruder to move into the duplication position
if (active_extruder_parked)
current_position[X_AXIS] = inactive_extruder_x_pos;
else
current_position[X_AXIS] = destination[X_AXIS] + duplicate_extruder_x_offset;
inactive_extruder_x_pos = destination[X_AXIS];
extruder_duplication_enabled = false;
}
else {
// record raised toolhead position for use by unpark
memcpy(raised_parked_position, current_position, sizeof(raised_parked_position));
raised_parked_position[Z_AXIS] += TOOLCHANGE_UNPARK_ZLIFT;
active_extruder_parked = true;
delayed_move_time = 0;
}
// No extra case for AUTO_BED_LEVELING_FEATURE in DUAL_X_CARRIAGE. Does that mean they don't work together?
#else // !DUAL_X_CARRIAGE
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
// Offset extruder, make sure to apply the bed level rotation matrix
vector_3 tmp_offset_vec = vector_3(extruder_offset[X_AXIS][tmp_extruder],
extruder_offset[Y_AXIS][tmp_extruder],
0),
act_offset_vec = vector_3(extruder_offset[X_AXIS][active_extruder],
extruder_offset[Y_AXIS][active_extruder],
0),
offset_vec = tmp_offset_vec - act_offset_vec;
// This function resets the max/min values - the current position may be overwritten below.
set_axis_is_at_home(X_AXIS);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOLNPGM(">>> gcode_T");
tmp_offset_vec.debug("tmp_offset_vec");
act_offset_vec.debug("act_offset_vec");
offset_vec.debug("offset_vec (BEFORE)");
DEBUG_POS("BEFORE rotation", current_position);
}
#endif
if (dual_x_carriage_mode == DXC_FULL_CONTROL_MODE) {
current_position[X_AXIS] = inactive_extruder_x_pos;
inactive_extruder_x_pos = destination[X_AXIS];
}
else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE) {
active_extruder_parked = (active_extruder == 0); // this triggers the second extruder to move into the duplication position
if (active_extruder == 0 || active_extruder_parked)
current_position[X_AXIS] = inactive_extruder_x_pos;
else
current_position[X_AXIS] = destination[X_AXIS] + duplicate_extruder_x_offset;
inactive_extruder_x_pos = destination[X_AXIS];
extruder_duplication_enabled = false;
}
else {
// record raised toolhead position for use by unpark
memcpy(raised_parked_position, current_position, sizeof(raised_parked_position));
raised_parked_position[Z_AXIS] += TOOLCHANGE_UNPARK_ZLIFT;
active_extruder_parked = true;
delayed_move_time = 0;
}
#else // !DUAL_X_CARRIAGE
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
// Offset extruder, make sure to apply the bed level rotation matrix
vector_3 tmp_offset_vec = vector_3(extruder_offset[X_AXIS][tmp_extruder],
extruder_offset[Y_AXIS][tmp_extruder],
0),
act_offset_vec = vector_3(extruder_offset[X_AXIS][active_extruder],
extruder_offset[Y_AXIS][active_extruder],
0),
offset_vec = tmp_offset_vec - act_offset_vec;
offset_vec.apply_rotation(plan_bed_level_matrix.transpose(plan_bed_level_matrix));
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOLNPGM(">>> gcode_T");
tmp_offset_vec.debug("tmp_offset_vec");
act_offset_vec.debug("act_offset_vec");
offset_vec.debug("offset_vec (BEFORE)");
DEBUG_POS("BEFORE rotation", current_position);
}
#endif
current_position[X_AXIS] += offset_vec.x;
current_position[Y_AXIS] += offset_vec.y;
current_position[Z_AXIS] += offset_vec.z;
offset_vec.apply_rotation(plan_bed_level_matrix.transpose(plan_bed_level_matrix));
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
offset_vec.debug("offset_vec (AFTER)");
DEBUG_POS("AFTER rotation", current_position);
SERIAL_ECHOLNPGM("<<< gcode_T");
}
#endif
current_position[X_AXIS] += offset_vec.x;
current_position[Y_AXIS] += offset_vec.y;
current_position[Z_AXIS] += offset_vec.z;
#else // !AUTO_BED_LEVELING_FEATURE
// Offset extruder (only by XY)
for (int i=X_AXIS; i<=Y_AXIS; i++)
current_position[i] += extruder_offset[i][tmp_extruder] - extruder_offset[i][active_extruder];
#endif // !AUTO_BED_LEVELING_FEATURE
// Set the new active extruder and position
active_extruder = tmp_extruder;
#endif // !DUAL_X_CARRIAGE
#if ENABLED(DELTA)
sync_plan_position_delta();
#else
sync_plan_position();
#endif
// Move to the old position
if (IsRunning()) prepare_move();
} // (tmp_extruder != active_extruder)
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
offset_vec.debug("offset_vec (AFTER)");
DEBUG_POS("AFTER rotation", current_position);
SERIAL_ECHOLNPGM("<<< gcode_T");
}
#endif
#if ENABLED(EXT_SOLENOID)
st_synchronize();
disable_all_solenoids();
enable_solenoid_on_active_extruder();
#endif // EXT_SOLENOID
#else // !AUTO_BED_LEVELING_FEATURE
// Offset extruder (only by XY)
for (int i=X_AXIS; i<=Y_AXIS; i++)
current_position[i] += extruder_offset[i][tmp_extruder] - extruder_offset[i][active_extruder];
#endif // !AUTO_BED_LEVELING_FEATURE
// Set the new active extruder and position
active_extruder = tmp_extruder;
#endif // !DUAL_X_CARRIAGE
#if ENABLED(DELTA)
sync_plan_position_delta();
#else
sync_plan_position();
#endif
// Move to the old position if 'F' was in the parameters
if (make_move && IsRunning()) prepare_move();
}
#endif // EXTRUDERS > 1
#if ENABLED(EXT_SOLENOID)
st_synchronize();
disable_all_solenoids();
enable_solenoid_on_active_extruder();
#endif // EXT_SOLENOID
feedrate = stored_feedrate;
#endif // EXTRUDERS > 1
SERIAL_ECHO_START;
SERIAL_ECHO(MSG_ACTIVE_EXTRUDER);
SERIAL_PROTOCOLLN((int)active_extruder);
}
SERIAL_ECHO_START;
SERIAL_ECHO(MSG_ACTIVE_EXTRUDER);
SERIAL_PROTOCOLLN((int)active_extruder);
}
/**

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