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Fix bad movement in gcode_T when switching extruders #3829

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merged 1 commit into from
Jun 1, 2016
Merged

Fix bad movement in gcode_T when switching extruders #3829

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34 changes: 13 additions & 21 deletions Marlin/Marlin_main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1272,6 +1272,7 @@ XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR);
*/
static void update_software_endstops(AxisEnum axis) {
float offs = home_offset[axis] + position_shift[axis];

#if ENABLED(DUAL_X_CARRIAGE)
if (axis == X_AXIS) {
float dual_max_x = max(extruder_offset[X_AXIS][1], X2_MAX_POS);
Expand All @@ -1292,6 +1293,7 @@ static void update_software_endstops(AxisEnum axis) {
sw_endstop_min[axis] = base_min_pos(axis) + offs;
sw_endstop_max[axis] = base_max_pos(axis) + offs;
}

}

/**
Expand Down Expand Up @@ -6472,24 +6474,29 @@ inline void gcode_T(uint8_t tmp_extruder) {

#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];
// The newly-selected extruder is actually at...
for (int i=X_AXIS; i<=Y_AXIS; i++) {
float diff = extruder_offset[i][tmp_extruder] - extruder_offset[i][active_extruder];
current_position[i] += diff;
position_shift[i] += diff; // Offset the coordinate space
update_software_endstops((AxisEnum)i);
}

#endif // !AUTO_BED_LEVELING_FEATURE

// Set the new active extruder and position
// Set the new active extruder
active_extruder = tmp_extruder;

#endif // !DUAL_X_CARRIAGE

// Tell the planner the new "current position"
#if ENABLED(DELTA)
sync_plan_position_delta();
#else
sync_plan_position();
#endif

// Move to the old position
// Move to the "old position" (move the extruder into place)
if (IsRunning()) prepare_move();

} // (tmp_extruder != active_extruder)
Expand Down Expand Up @@ -7187,23 +7194,8 @@ void clamp_to_software_endstops(float target[3]) {
if (min_software_endstops) {
NOLESS(target[X_AXIS], sw_endstop_min[X_AXIS]);
NOLESS(target[Y_AXIS], sw_endstop_min[Y_AXIS]);

float negative_z_offset = 0;
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
if (zprobe_zoffset < 0) negative_z_offset += zprobe_zoffset;
if (home_offset[Z_AXIS] < 0) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("> clamp_to_software_endstops > Add home_offset[Z_AXIS]:", home_offset[Z_AXIS]);
SERIAL_EOL;
}
#endif
negative_z_offset += home_offset[Z_AXIS];
}
#endif
NOLESS(target[Z_AXIS], sw_endstop_min[Z_AXIS] + negative_z_offset);
NOLESS(target[Z_AXIS], sw_endstop_min[Z_AXIS]);
}

if (max_software_endstops) {
NOMORE(target[X_AXIS], sw_endstop_max[X_AXIS]);
NOMORE(target[Y_AXIS], sw_endstop_max[Y_AXIS]);
Expand Down