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Prusa Multi Material: Improved path planning when jumping to the wipe tower.

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This commit is contained in:
bubnikv 2017-05-18 16:53:19 +02:00
parent e75d851bc4
commit 81701b400c
7 changed files with 348 additions and 264 deletions
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10
xs/src/libslic3r/GCode/WipeTower.hpp
View file

@ -46,13 +46,19 @@ public:
// Is this the last layer of the wipe tower?
bool is_last_layer) = 0;
enum Purpose {
PURPOSE_MOVE_TO_TOWER,
PURPOSE_EXTRUDE,
PURPOSE_MOVE_TO_TOWER_AND_EXTRUDE,
};
// Returns gcode for toolchange and the end position.
// if new_tool == -1, just unload the current filament over the wipe tower.
virtual std::pair<std::string, xy> tool_change(int new_tool) = 0;
virtual std::pair<std::string, xy> tool_change(int new_tool, Purpose purpose = PURPOSE_MOVE_TO_TOWER_AND_EXTRUDE) = 0;
// Close the current wipe tower layer with a perimeter and possibly fill the unfilled space with a zig-zag.
// Call this method only if layer_finished() is false.
virtual std::pair<std::string, xy> finish_layer() = 0;
virtual std::pair<std::string, xy> finish_layer(Purpose purpose = PURPOSE_MOVE_TO_TOWER_AND_EXTRUDE) = 0;
// Is the current layer finished? A layer is finished if either the wipe tower is finished, or
// the wipe tower has been completely covered by the tool change extrusions,

304
xs/src/libslic3r/GCode/WipeTowerPrusaMM.cpp
View file

@ -27,6 +27,8 @@ public:
m_current_feedrate(0.f),
m_extrusion_flow(0.f) {}
Writer& set_initial_position(const WipeTower::xy &pos) { m_current_pos = pos; return *this; }
Writer& set_z(float z)
{ m_current_z = z; return *this; }
@ -283,17 +285,15 @@ WipeTowerPrusaMM::material_type WipeTowerPrusaMM::parse_material(const char *nam
return INVALID;
}
std::pair<std::string, WipeTower::xy> WipeTowerPrusaMM::tool_change(int tool)
std::pair<std::string, WipeTower::xy> WipeTowerPrusaMM::tool_change(int tool, Purpose purpose)
{
// Either it is the last tool unload,
// or there must be a nonzero wipe tower partitions available.
assert(tool < 0 || it_layer_tools->wipe_tower_partitions > 0);
if (m_idx_tool_change_in_layer == (unsigned int)(-1)) {
// Mark the brim as extruded.
m_idx_tool_change_in_layer = 0;
// First layer, prime the extruder.
return toolchange_Brim(tool);
return toolchange_Brim(purpose);
}
box_coordinates cleaning_box(
@ -302,61 +302,70 @@ std::pair<std::string, WipeTower::xy> WipeTowerPrusaMM::tool_change(int tool)
m_wipe_area - m_perimeter_width);
PrusaMultiMaterial::Writer writer;
// Scaffold leaks terribly, reduce leaking by a full retract when going to the wipe tower.
float initial_retract = ((m_current_material == SCAFF) ? 1.f : 0.5f) * m_retract;
writer.set_extrusion_flow(m_extrusion_flow)
.set_z(m_z_pos)
.append(";--------------------\n"
"; CP TOOLCHANGE START\n")
.comment_with_value(" toolchange #", m_num_tool_changes ++)
.comment_with_value(" toolchange #", m_num_tool_changes)
.comment_material(m_current_material)
.append(";--------------------\n")
.speed_override(100)
// Lift for a Z hop.
.z_hop(m_zhop, 7200)
// Additional retract on move to tower.
.retract(initial_retract, 3600)
// Move to a starting position, one perimeter width inside the cleaning box.
.travel(((m_current_shape == SHAPE_NORMAL) ? cleaning_box.ld : cleaning_box.lu) +
xy(m_perimeter_width, ((m_current_shape == SHAPE_NORMAL) ? 1.f : -1.f) * m_perimeter_width), 7200)
// Unlift for a Z hop.
.z_hop_reset(7200)
// Additional retract on move to tower.
.load(initial_retract, 3600)
.load(m_retract, 1500)
// Increase extruder current for ramming.
.set_extruder_trimpot(750)
.flush_planner_queue();
.speed_override(100);
// Ram the hot material out of the melt zone, retract the filament into the cooling tubes and let it cool.
toolchange_Unload(writer, cleaning_box, m_current_material,
m_is_first_layer ? m_first_layer_temperature[tool] : m_temperature[tool]);
xy initial_position = ((m_current_shape == SHAPE_NORMAL) ? cleaning_box.ld : cleaning_box.lu) +
xy(m_perimeter_width, ((m_current_shape == SHAPE_NORMAL) ? 1.f : -1.f) * m_perimeter_width);
if (tool >= 0) {
// This is not the last change.
// Change the tool, set a speed override for soluble and flex materials.
toolchange_Change(writer, tool, m_material[tool]);
toolchange_Load(writer, cleaning_box);
// Wipe the newly loaded filament until the end of the assigned wipe area.
toolchange_Wipe(writer, cleaning_box);
// Draw a perimeter around cleaning_box and wipe.
toolchange_Done(writer, cleaning_box);
if (purpose == PURPOSE_MOVE_TO_TOWER || purpose == PURPOSE_MOVE_TO_TOWER_AND_EXTRUDE) {
// Scaffold leaks terribly, reduce leaking by a full retract when going to the wipe tower.
float initial_retract = ((m_current_material == SCAFF) ? 1.f : 0.5f) * m_retract;
writer // Lift for a Z hop.
.z_hop(m_zhop, 7200)
// Additional retract on move to tower.
.retract(initial_retract, 3600)
// Move to a starting position, one perimeter width inside the cleaning box.
.travel(initial_position, 7200)
// Unlift for a Z hop.
.z_hop_reset(7200)
// Additional retract on move to tower.
.load(initial_retract, 3600)
.load(m_retract, 1500);
} else {
// Already at the initial position.
writer.set_initial_position(initial_position);
}
// Reset the extruder current to a normal value.
writer.set_extruder_trimpot(550)
.flush_planner_queue()
.reset_extruder()
.append("; CP TOOLCHANGE END\n"
";------------------\n"
"\n\n");
if (purpose == PURPOSE_EXTRUDE || purpose == PURPOSE_MOVE_TO_TOWER_AND_EXTRUDE) {
// Ram the hot material out of the melt zone, retract the filament into the cooling tubes and let it cool.
toolchange_Unload(writer, cleaning_box, m_current_material,
m_is_first_layer ? m_first_layer_temperature[tool] : m_temperature[tool]);
if (tool >= 0) {
// This is not the last change.
// Change the tool, set a speed override for soluble and flex materials.
toolchange_Change(writer, tool, m_material[tool]);
toolchange_Load(writer, cleaning_box);
// Wipe the newly loaded filament until the end of the assigned wipe area.
toolchange_Wipe(writer, cleaning_box);
// Draw a perimeter around cleaning_box and wipe.
toolchange_Done(writer, cleaning_box);
}
// Reset the extruder current to a normal value.
writer.set_extruder_trimpot(550)
.flush_planner_queue()
.reset_extruder()
.append("; CP TOOLCHANGE END\n"
";------------------\n"
"\n\n");
++ m_num_tool_changes;
++ m_idx_tool_change_in_layer;
m_current_wipe_start_y += m_wipe_area;
}
++ m_idx_tool_change_in_layer;
m_current_wipe_start_y += m_wipe_area;
return std::pair<std::string, xy>(writer.gcode(), writer.pos());
}
std::pair<std::string, WipeTower::xy> WipeTowerPrusaMM::toolchange_Brim(size_t /* tool */, bool sideOnly, float y_offset)
std::pair<std::string, WipeTower::xy> WipeTowerPrusaMM::toolchange_Brim(Purpose purpose, bool sideOnly, float y_offset)
{
const box_coordinates wipeTower_box(
m_wipe_tower_pos,
@ -371,45 +380,57 @@ std::pair<std::string, WipeTower::xy> WipeTowerPrusaMM::toolchange_Brim(size_t /
";-------------------------------------\n"
"; CP WIPE TOWER FIRST LAYER BRIM START\n");
// Move with Z hop and prime the extruder 10*m_perimeter_width left along the vertical edge of the wipe tower.
writer.z_hop(m_zhop, 7200)
.travel(wipeTower_box.lu - xy(m_perimeter_width * 10.f, 0), 6000)
.z_hop_reset(7200)
.extrude_explicit(wipeTower_box.ld - xy(m_perimeter_width * 10.f, 0), m_retract, 2400);
xy initial_position = wipeTower_box.lu - xy(m_perimeter_width * 10.f, 0);
// The tool is supposed to be active and primed at the time when the wipe tower brim is extruded.
// toolchange_Change(writer, int(tool), m_material[tool]);
if (purpose == PURPOSE_MOVE_TO_TOWER || purpose == PURPOSE_MOVE_TO_TOWER_AND_EXTRUDE)
// Move with Z hop.
writer.z_hop(m_zhop, 7200)
.travel(initial_position, 6000)
.z_hop_reset(7200);
else
writer.set_initial_position(initial_position);
if (sideOnly) {
float x_offset = m_perimeter_width;
for (size_t i = 0; i < 4; ++ i, x_offset += m_perimeter_width)
writer.travel (wipeTower_box.ld + xy(- x_offset, y_offset), 7000)
.extrude(wipeTower_box.lu + xy(- x_offset, - y_offset), 2100);
writer.travel(wipeTower_box.rd + xy(x_offset, y_offset), 7000);
x_offset = m_perimeter_width;
for (size_t i = 0; i < 4; ++ i, x_offset += m_perimeter_width)
writer.travel (wipeTower_box.rd + xy(x_offset, y_offset), 7000)
.extrude(wipeTower_box.ru + xy(x_offset, - y_offset), 2100);
} else {
// Extrude 4 rounds of a brim around the future wipe tower.
box_coordinates box(wipeTower_box);
//FIXME why is the box shifted in +Y by 0.5f * m_perimeter_width?
box.translate(0.f, 0.5f * m_perimeter_width);
box.expand(0.5f * m_perimeter_width);
for (size_t i = 0; i < 4; ++ i) {
writer.travel (box.ld, 7000)
.extrude(box.lu, 2100).extrude(box.ru)
.extrude(box.rd ).extrude(box.ld);
box.expand(m_perimeter_width);
if (purpose == PURPOSE_EXTRUDE || purpose == PURPOSE_MOVE_TO_TOWER_AND_EXTRUDE) {
// Prime the extruder 10*m_perimeter_width left along the vertical edge of the wipe tower.
writer.extrude_explicit(wipeTower_box.ld - xy(m_perimeter_width * 10.f, 0), m_retract, 2400);
// The tool is supposed to be active and primed at the time when the wipe tower brim is extruded.
// toolchange_Change(writer, int(tool), m_material[tool]);
if (sideOnly) {
float x_offset = m_perimeter_width;
for (size_t i = 0; i < 4; ++ i, x_offset += m_perimeter_width)
writer.travel (wipeTower_box.ld + xy(- x_offset, y_offset), 7000)
.extrude(wipeTower_box.lu + xy(- x_offset, - y_offset), 2100);
writer.travel(wipeTower_box.rd + xy(x_offset, y_offset), 7000);
x_offset = m_perimeter_width;
for (size_t i = 0; i < 4; ++ i, x_offset += m_perimeter_width)
writer.travel (wipeTower_box.rd + xy(x_offset, y_offset), 7000)
.extrude(wipeTower_box.ru + xy(x_offset, - y_offset), 2100);
} else {
// Extrude 4 rounds of a brim around the future wipe tower.
box_coordinates box(wipeTower_box);
//FIXME why is the box shifted in +Y by 0.5f * m_perimeter_width?
box.translate(0.f, 0.5f * m_perimeter_width);
box.expand(0.5f * m_perimeter_width);
for (size_t i = 0; i < 4; ++ i) {
writer.travel (box.ld, 7000)
.extrude(box.lu, 2100).extrude(box.ru)
.extrude(box.rd ).extrude(box.ld);
box.expand(m_perimeter_width);
}
}
}
// Move to the front left corner and wipe along the front edge.
writer.travel(wipeTower_box.ld, 7000)
.travel(wipeTower_box.rd)
.travel(wipeTower_box.ld)
.append("; CP WIPE TOWER FIRST LAYER BRIM END\n"
";-----------------------------------\n");
// Move to the front left corner and wipe along the front edge.
writer.travel(wipeTower_box.ld, 7000)
.travel(wipeTower_box.rd)
.travel(wipeTower_box.ld)
.append("; CP WIPE TOWER FIRST LAYER BRIM END\n"
";-----------------------------------\n");
// Mark the brim as extruded.
m_idx_tool_change_in_layer = 0;
}
return std::pair<std::string, xy>(writer.gcode(), writer.pos());
}
@ -425,7 +446,7 @@ void WipeTowerPrusaMM::toolchange_Unload(
float xr = cleaning_box.rd.x - 0.5f * m_perimeter_width;
float y_step = ((m_current_shape == SHAPE_NORMAL) ? 1.f : -1.f) * m_perimeter_width;
writer.append("; CP TOOLCHANGE UNLOAD");
writer.append("; CP TOOLCHANGE UNLOAD\n");
// Ram the hot material out of the extruder melt zone.
// Current extruder position is on the left, one perimeter inside the cleaning box in both X and Y.
@ -613,7 +634,7 @@ void WipeTowerPrusaMM::toolchange_Done(
.feedrate(6000);
}
std::pair<std::string, WipeTower::xy> WipeTowerPrusaMM::finish_layer()
std::pair<std::string, WipeTower::xy> WipeTowerPrusaMM::finish_layer(Purpose purpose)
{
// This should only be called if the layer is not finished yet.
// Otherwise the caller would likely travel to the wipe tower in vain.
@ -624,7 +645,8 @@ std::pair<std::string, WipeTower::xy> WipeTowerPrusaMM::finish_layer()
.set_z(m_z_pos)
.append(";--------------------\n"
"; CP EMPTY GRID START\n")
.comment_with_value(" layer #", m_num_layer_changes ++);
// m_num_layer_changes is incremented by set_z, so it is 1 based.
.comment_with_value(" layer #", m_num_layer_changes - 1);
// Slow down on the 1st layer.
float speed_factor = m_is_first_layer ? 0.5f : 1.f;
@ -638,60 +660,74 @@ std::pair<std::string, WipeTower::xy> WipeTowerPrusaMM::finish_layer()
fill_box.rd.y += firstLayerOffset;
}
if (m_idx_tool_change_in_layer == 0)
// There were no tool changes at all in this layer.
writer.retract(m_retract * 1.5f, 3600)
// Jump with retract to fill_box.ld + a random shift in +x.
.z_hop(m_zhop, 7200)
.travel(fill_box.ld + xy(5.f + 15.f * float(rand()) / RAND_MAX, 0.f), 7000)
.z_hop_reset(7200)
// Prime the extruder.
.load_move_x(fill_box.ld.x, m_retract * 1.5f, 3600);
// Extrude the first perimeter.
box_coordinates box = fill_box;
writer.extrude(box.lu, 2400 * speed_factor)
.extrude(box.ru)
.extrude(box.rd)
.extrude(box.ld + xy(m_perimeter_width / 2, 0));
// Extrude second perimeter.
box.expand(- m_perimeter_width / 2);
writer.extrude(box.lu, 3200 * speed_factor)
.extrude(box.ru)
.extrude(box.rd)
.extrude(box.ld + xy(m_perimeter_width / 2, 0))
.extrude(box.ld + xy(m_perimeter_width / 2, m_perimeter_width / 2));
// Extrude an inverse U at the left of the region.
writer.extrude(fill_box.ld + xy(m_perimeter_width * 3, m_perimeter_width), 2900 * speed_factor)
.extrude(fill_box.lu + xy(m_perimeter_width * 3, - m_perimeter_width))
.extrude(fill_box.lu + xy(m_perimeter_width * 6, - m_perimeter_width))
.extrude(fill_box.ld + xy(m_perimeter_width * 6, m_perimeter_width));
if (fill_box.lu.y - fill_box.ld.y > 4.f) {
// Extrude three zig-zags.
float step = (m_wipe_tower_width - m_perimeter_width * 12.f) / 12.f;
for (size_t i = 0; i < 3; ++ i) {
writer.extrude(writer.x() + step, fill_box.ld.y + m_perimeter_width * 8, 3200 * speed_factor);
writer.extrude(writer.x() , fill_box.lu.y - m_perimeter_width * 8);
writer.extrude(writer.x() + step, fill_box.lu.y - m_perimeter_width );
writer.extrude(writer.x() + step, fill_box.lu.y - m_perimeter_width * 8);
writer.extrude(writer.x() , fill_box.ld.y + m_perimeter_width * 8);
writer.extrude(writer.x() + step, fill_box.ld.y + m_perimeter_width );
if (purpose == PURPOSE_MOVE_TO_TOWER || purpose == PURPOSE_MOVE_TO_TOWER_AND_EXTRUDE) {
if (m_idx_tool_change_in_layer == 0) {
// There were no tool changes at all in this layer.
writer.retract(m_retract * 1.5f, 3600)
// Jump with retract to fill_box.ld + a random shift in +x.
.z_hop(m_zhop, 7200)
.travel(fill_box.ld + xy(5.f + 15.f * float(rand()) / RAND_MAX, 0.f), 7000)
.z_hop_reset(7200)
// Prime the extruder.
.load_move_x(fill_box.ld.x, m_retract * 1.5f, 3600);
} else {
// Otherwise the extruder is already over the wipe tower.
}
} else {
// The print head is inside the wipe tower. Rather move to the start of the following extrusion.
// writer.set_initial_position(fill_box.ld);
writer.travel(fill_box.ld, 7000);
}
// Extrude an inverse U at the left of the region.
writer.extrude(fill_box.ru + xy(- m_perimeter_width * 6, - m_perimeter_width), 2900 * speed_factor)
.extrude(fill_box.ru + xy(- m_perimeter_width * 3, - m_perimeter_width))
.extrude(fill_box.rd + xy(- m_perimeter_width * 3, m_perimeter_width))
.extrude(fill_box.rd + xy(- m_perimeter_width, m_perimeter_width))
// Wipe along the front side of the current wiping box.
.travel(fill_box.ld + xy( m_perimeter_width, m_perimeter_width / 2), 7200)
.travel(fill_box.rd + xy(- m_perimeter_width, m_perimeter_width / 2))
.append("; CP EMPTY GRID END\n"
";------------------\n\n\n\n\n\n\n");
if (purpose == PURPOSE_EXTRUDE || purpose == PURPOSE_MOVE_TO_TOWER_AND_EXTRUDE) {
// Extrude the first perimeter.
box_coordinates box = fill_box;
writer.extrude(box.lu, 2400 * speed_factor)
.extrude(box.ru)
.extrude(box.rd)
.extrude(box.ld + xy(m_perimeter_width / 2, 0));
// Extrude second perimeter.
box.expand(- m_perimeter_width / 2);
writer.extrude(box.lu, 3200 * speed_factor)
.extrude(box.ru)
.extrude(box.rd)
.extrude(box.ld + xy(m_perimeter_width / 2, 0))
.extrude(box.ld + xy(m_perimeter_width / 2, m_perimeter_width / 2));
// Extrude an inverse U at the left of the region.
writer.extrude(fill_box.ld + xy(m_perimeter_width * 3, m_perimeter_width), 2900 * speed_factor)
.extrude(fill_box.lu + xy(m_perimeter_width * 3, - m_perimeter_width))
.extrude(fill_box.lu + xy(m_perimeter_width * 6, - m_perimeter_width))
.extrude(fill_box.ld + xy(m_perimeter_width * 6, m_perimeter_width));
if (fill_box.lu.y - fill_box.ld.y > 4.f) {
// Extrude three zig-zags.
float step = (m_wipe_tower_width - m_perimeter_width * 12.f) / 12.f;
for (size_t i = 0; i < 3; ++ i) {
writer.extrude(writer.x() + step, fill_box.ld.y + m_perimeter_width * 8, 3200 * speed_factor);
writer.extrude(writer.x() , fill_box.lu.y - m_perimeter_width * 8);
writer.extrude(writer.x() + step, fill_box.lu.y - m_perimeter_width );
writer.extrude(writer.x() + step, fill_box.lu.y - m_perimeter_width * 8);
writer.extrude(writer.x() , fill_box.ld.y + m_perimeter_width * 8);
writer.extrude(writer.x() + step, fill_box.ld.y + m_perimeter_width );
}
}
// Extrude an inverse U at the left of the region.
writer.extrude(fill_box.ru + xy(- m_perimeter_width * 6, - m_perimeter_width), 2900 * speed_factor)
.extrude(fill_box.ru + xy(- m_perimeter_width * 3, - m_perimeter_width))
.extrude(fill_box.rd + xy(- m_perimeter_width * 3, m_perimeter_width))
.extrude(fill_box.rd + xy(- m_perimeter_width, m_perimeter_width))
// Wipe along the front side of the current wiping box.
.travel(fill_box.ld + xy( m_perimeter_width, m_perimeter_width / 2), 7200)
.travel(fill_box.rd + xy(- m_perimeter_width, m_perimeter_width / 2))
.append("; CP EMPTY GRID END\n"
";------------------\n\n\n\n\n\n\n");
// Indicate that this wipe tower layer is fully covered.
m_idx_tool_change_in_layer = m_max_color_changes;
}
return std::pair<std::string, xy>(writer.gcode(), writer.pos());
}

33
xs/src/libslic3r/GCode/WipeTowerPrusaMM.hpp
View file

@ -88,6 +88,7 @@ public:
m_idx_tool_change_in_layer = is_first_layer ? (unsigned int)(-1) : 0;
m_current_wipe_start_y = 0.f;
m_current_shape = (! is_first_layer && m_current_shape == SHAPE_NORMAL) ? SHAPE_REVERSED : SHAPE_NORMAL;
++ m_num_layer_changes;
int layer_idx = int(std::floor(layer_height * 100) + 0.5f);
switch (layer_idx)
@ -103,17 +104,17 @@ public:
}
// Return the wipe tower position.
virtual const xy& position() const { return m_wipe_tower_pos; }
virtual const xy& position() const { return m_wipe_tower_pos; }
// The wipe tower is finished, there should be no more tool changes or wipe tower prints.
virtual bool finished() const { return m_max_color_changes == 0; }
virtual bool finished() const { return m_max_color_changes == 0; }
// Returns gcode for a toolchange and a final print head position.
// On the first layer, extrude a brim around the future wipe tower first.
virtual std::pair<std::string, xy> tool_change(int new_tool);
virtual std::pair<std::string, xy> tool_change(int new_tool, Purpose purpose);
// Close the current wipe tower layer with a perimeter and possibly fill the unfilled space with a zig-zag.
// Call this method only if layer_finished() is false.
virtual std::pair<std::string, xy> finish_layer();
virtual std::pair<std::string, xy> finish_layer(Purpose purpose);
// Is the current layer finished? A layer is finished if either the wipe tower is finished, or
// the wipe tower has been completely covered by the tool change extrusions,
@ -132,27 +133,27 @@ private:
};
// Left front corner of the wipe tower in mm.
xy m_wipe_tower_pos;
xy m_wipe_tower_pos;
// Width of the wipe tower.
float m_wipe_tower_width;
float m_wipe_tower_width;
// Per color Y span.
float m_wipe_area;
float m_wipe_area;
// Current Z position.
float m_z_pos = 0.f;
float m_z_pos = 0.f;
// Maximum number of color changes per layer.
size_t m_max_color_changes = 0;
size_t m_max_color_changes = 0;
// Is this the 1st layer of the print? If so, print the brim around the waste tower.
bool m_is_first_layer = false;
bool m_is_first_layer = false;
// Is this the last layer of this waste tower?
bool m_is_last_layer = false;
bool m_is_last_layer = false;
// G-code generator parameters.
float m_zhop = 0.5f;
float m_retract = 4.f;
float m_zhop = 0.5f;
float m_retract = 4.f;
// Width of an extrusion line, also a perimeter spacing for 100% infill.
float m_perimeter_width = 0.5f;
float m_perimeter_width = 0.5f;
// Extrusion flow is derived from m_perimeter_width, layer height and filament diameter.
float m_extrusion_flow = 0.029f;
float m_extrusion_flow = 0.029f;
// Extruder specific parameters.
material_type m_material[4];
@ -206,7 +207,7 @@ private:
// Returns gcode for wipe tower brim
// sideOnly -- set to false -- experimental, draw brim on sides of wipe tower
// offset -- set to 0 -- experimental, offset to replace brim in front / rear of wipe tower
std::pair<std::string, WipeTower::xy> toolchange_Brim(size_t tool, bool sideOnly = false, float y_offset = 0.f);
std::pair<std::string, WipeTower::xy> toolchange_Brim(Purpose purpose, bool sideOnly = false, float y_offset = 0.f);
void toolchange_Unload(
PrusaMultiMaterial::Writer &writer,