From 847429eff4b3d9e8343ddccc88ab61f06c059449 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Sun, 9 Oct 2016 15:21:04 -0500 Subject: [PATCH] Make tool_change kinematic compatible --- Marlin/Marlin_main.cpp | 22 ++++++---------------- 1 file changed, 6 insertions(+), 16 deletions(-) diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index 36177c619..7705b6b7b 100755 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -7302,15 +7302,11 @@ 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 - planner.buffer_line( - current_position[X_AXIS], - current_position[Y_AXIS], - current_position[Z_AXIS] + z_raise, - current_position[E_AXIS], - planner.max_feedrate_mm_s[Z_AXIS], - active_extruder - ); + destination[Z_AXIS] += z_raise; + planner.buffer_line_kinematic(destination, planner.max_feedrate_mm_s[Z_AXIS], active_extruder); stepper.synchronize(); move_extruder_servo(active_extruder); @@ -7318,14 +7314,8 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n // Move back down, if needed if (z_raise != z_diff) { - planner.buffer_line( - current_position[X_AXIS], - current_position[Y_AXIS], - current_position[Z_AXIS] + z_diff, - current_position[E_AXIS], - planner.max_feedrate_mm_s[Z_AXIS], - active_extruder - ); + destination[Z_AXIS] = current_position[Z_AXIS] + z_diff; + planner.buffer_line_kinematic(destination, planner.max_feedrate_mm_s[Z_AXIS], active_extruder); stepper.synchronize(); } #endif