Merge pull request #6042 from thinkyhead/rc_fix_toolchange_z

Move Z last in tool-change for SWITCHING_EXTRUDER

Marlin/Marlin_main.cpp

@@ -7851,6 +7851,7 @@ inline void gcode_M999() {
   inline void move_extruder_servo(uint8_t e) {
     const int angles[2] = SWITCHING_EXTRUDER_SERVO_ANGLES;
     MOVE_SERVO(SWITCHING_EXTRUDER_SERVO_NR, angles[e]);
+    delay(500);
   }
 #endif
 
@@ -7997,25 +7998,15 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
 
           #if ENABLED(SWITCHING_EXTRUDER)
             // <0 if the new nozzle is higher, >0 if lower. A bigger raise when lower.
-            float z_diff = hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder],
+            const 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);
 
             // Always raise by some amount (destination copied from current_position earlier)
-            float save_Z = destination[Z_AXIS];  // save Z for later on
+            current_position[Z_AXIS] += z_raise;
-            destination[Z_AXIS] += z_raise;
+            planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
-            planner.buffer_line_kinematic(destination, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
             stepper.synchronize();
 
             move_extruder_servo(active_extruder);
-            delay(500);
-
-            // Move back down, if needed
-            if (z_raise != z_diff) {
-              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();
-            }
-            destination[Z_AXIS] = save_Z;  // restore original Z position so the 'Move to the "old position"' is correct
           #endif
 
           /**
@@ -8066,12 +8057,12 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
             #endif
 
             // Adjustments to the current position
-            float xydiff[2] = { offset_vec.x, offset_vec.y };
+            const float xydiff[2] = { offset_vec.x, offset_vec.y };
             current_position[Z_AXIS] += offset_vec.z;
 
           #else // !ABL_PLANAR
 
-            float xydiff[2] = {
+            const 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]
             };
@@ -8138,6 +8129,15 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
           prepare_move_to_destination();
         }
 
+        #if ENABLED(SWITCHING_EXTRUDER)
+          // Move back down, if needed. (Including when the new tool is higher.)
+          if (z_raise != z_diff) {
+            destination[Z_AXIS] += z_diff;
+            feedrate_mm_s = planner.max_feedrate_mm_s[Z_AXIS];
+            prepare_move_to_destination();
+          }
+        #endif
+
       } // (tmp_extruder != active_extruder)
 
       stepper.synchronize();