From 847429eff4b3d9e8343ddccc88ab61f06c059449 Mon Sep 17 00:00:00 2001
From: Scott Lahteine <sourcetree@thinkyhead.com>
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 36177c619f..7705b6b7b2 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
--
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