mirror of
https://github.com/SoftFever/OrcaSlicer.git
synced 2025-07-23 06:33:57 -06:00
Prusa Multi Material: Improved path planning when jumping to the wipe tower.
This commit is contained in:
bubnikv
parent
e75d851bc4
commit
81701b400c
7 changed files with 348 additions and 264 deletions
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@ -27,6 +27,8 @@ public:
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m_current_feedrate(0.f),
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m_extrusion_flow(0.f) {}
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Writer& set_initial_position(const WipeTower::xy &pos) { m_current_pos = pos; return *this; }
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Writer& set_z(float z)
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{ m_current_z = z; return *this; }
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@ -283,17 +285,15 @@ WipeTowerPrusaMM::material_type WipeTowerPrusaMM::parse_material(const char *nam
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return INVALID;
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}
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std::pair<std::string, WipeTower::xy> WipeTowerPrusaMM::tool_change(int tool)
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std::pair<std::string, WipeTower::xy> WipeTowerPrusaMM::tool_change(int tool, Purpose purpose)
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{
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// Either it is the last tool unload,
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// or there must be a nonzero wipe tower partitions available.
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assert(tool < 0 || it_layer_tools->wipe_tower_partitions > 0);
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if (m_idx_tool_change_in_layer == (unsigned int)(-1)) {
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// Mark the brim as extruded.
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m_idx_tool_change_in_layer = 0;
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// First layer, prime the extruder.
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return toolchange_Brim(tool);
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return toolchange_Brim(purpose);
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}
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box_coordinates cleaning_box(
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@ -302,61 +302,70 @@ std::pair<std::string, WipeTower::xy> WipeTowerPrusaMM::tool_change(int tool)
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m_wipe_area - m_perimeter_width);
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PrusaMultiMaterial::Writer writer;
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// Scaffold leaks terribly, reduce leaking by a full retract when going to the wipe tower.
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float initial_retract = ((m_current_material == SCAFF) ? 1.f : 0.5f) * m_retract;
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writer.set_extrusion_flow(m_extrusion_flow)
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.set_z(m_z_pos)
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.append(";--------------------\n"
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"; CP TOOLCHANGE START\n")
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.comment_with_value(" toolchange #", m_num_tool_changes ++)
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.comment_with_value(" toolchange #", m_num_tool_changes)
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.comment_material(m_current_material)
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.append(";--------------------\n")
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.speed_override(100)
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// Lift for a Z hop.
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.z_hop(m_zhop, 7200)
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// Additional retract on move to tower.
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.retract(initial_retract, 3600)
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// Move to a starting position, one perimeter width inside the cleaning box.
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.travel(((m_current_shape == SHAPE_NORMAL) ? cleaning_box.ld : cleaning_box.lu) +
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xy(m_perimeter_width, ((m_current_shape == SHAPE_NORMAL) ? 1.f : -1.f) * m_perimeter_width), 7200)
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// Unlift for a Z hop.
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.z_hop_reset(7200)
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// Additional retract on move to tower.
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.load(initial_retract, 3600)
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.load(m_retract, 1500)
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// Increase extruder current for ramming.
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.set_extruder_trimpot(750)
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.flush_planner_queue();
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.speed_override(100);
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// Ram the hot material out of the melt zone, retract the filament into the cooling tubes and let it cool.
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toolchange_Unload(writer, cleaning_box, m_current_material,
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m_is_first_layer ? m_first_layer_temperature[tool] : m_temperature[tool]);
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xy initial_position = ((m_current_shape == SHAPE_NORMAL) ? cleaning_box.ld : cleaning_box.lu) +
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xy(m_perimeter_width, ((m_current_shape == SHAPE_NORMAL) ? 1.f : -1.f) * m_perimeter_width);
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if (tool >= 0) {
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// This is not the last change.
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// Change the tool, set a speed override for soluble and flex materials.
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toolchange_Change(writer, tool, m_material[tool]);
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toolchange_Load(writer, cleaning_box);
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// Wipe the newly loaded filament until the end of the assigned wipe area.
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toolchange_Wipe(writer, cleaning_box);
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// Draw a perimeter around cleaning_box and wipe.
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toolchange_Done(writer, cleaning_box);
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if (purpose == PURPOSE_MOVE_TO_TOWER || purpose == PURPOSE_MOVE_TO_TOWER_AND_EXTRUDE) {
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// Scaffold leaks terribly, reduce leaking by a full retract when going to the wipe tower.
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float initial_retract = ((m_current_material == SCAFF) ? 1.f : 0.5f) * m_retract;
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writer // Lift for a Z hop.
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.z_hop(m_zhop, 7200)
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// Additional retract on move to tower.
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.retract(initial_retract, 3600)
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// Move to a starting position, one perimeter width inside the cleaning box.
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.travel(initial_position, 7200)
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// Unlift for a Z hop.
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.z_hop_reset(7200)
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// Additional retract on move to tower.
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.load(initial_retract, 3600)
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.load(m_retract, 1500);
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} else {
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// Already at the initial position.
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writer.set_initial_position(initial_position);
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}
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// Reset the extruder current to a normal value.
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writer.set_extruder_trimpot(550)
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.flush_planner_queue()
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.reset_extruder()
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.append("; CP TOOLCHANGE END\n"
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";------------------\n"
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"\n\n");
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if (purpose == PURPOSE_EXTRUDE || purpose == PURPOSE_MOVE_TO_TOWER_AND_EXTRUDE) {
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// Ram the hot material out of the melt zone, retract the filament into the cooling tubes and let it cool.
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toolchange_Unload(writer, cleaning_box, m_current_material,
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m_is_first_layer ? m_first_layer_temperature[tool] : m_temperature[tool]);
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if (tool >= 0) {
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// This is not the last change.
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// Change the tool, set a speed override for soluble and flex materials.
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toolchange_Change(writer, tool, m_material[tool]);
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toolchange_Load(writer, cleaning_box);
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// Wipe the newly loaded filament until the end of the assigned wipe area.
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toolchange_Wipe(writer, cleaning_box);
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// Draw a perimeter around cleaning_box and wipe.
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toolchange_Done(writer, cleaning_box);
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}
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// Reset the extruder current to a normal value.
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writer.set_extruder_trimpot(550)
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.flush_planner_queue()
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.reset_extruder()
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.append("; CP TOOLCHANGE END\n"
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";------------------\n"
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"\n\n");
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++ m_num_tool_changes;
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++ m_idx_tool_change_in_layer;
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m_current_wipe_start_y += m_wipe_area;
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}
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++ m_idx_tool_change_in_layer;
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m_current_wipe_start_y += m_wipe_area;
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return std::pair<std::string, xy>(writer.gcode(), writer.pos());
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}
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std::pair<std::string, WipeTower::xy> WipeTowerPrusaMM::toolchange_Brim(size_t /* tool */, bool sideOnly, float y_offset)
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std::pair<std::string, WipeTower::xy> WipeTowerPrusaMM::toolchange_Brim(Purpose purpose, bool sideOnly, float y_offset)
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{
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const box_coordinates wipeTower_box(
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m_wipe_tower_pos,
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@ -371,45 +380,57 @@ std::pair<std::string, WipeTower::xy> WipeTowerPrusaMM::toolchange_Brim(size_t /
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";-------------------------------------\n"
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"; CP WIPE TOWER FIRST LAYER BRIM START\n");
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// Move with Z hop and prime the extruder 10*m_perimeter_width left along the vertical edge of the wipe tower.
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writer.z_hop(m_zhop, 7200)
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.travel(wipeTower_box.lu - xy(m_perimeter_width * 10.f, 0), 6000)
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.z_hop_reset(7200)
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.extrude_explicit(wipeTower_box.ld - xy(m_perimeter_width * 10.f, 0), m_retract, 2400);
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xy initial_position = wipeTower_box.lu - xy(m_perimeter_width * 10.f, 0);
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// The tool is supposed to be active and primed at the time when the wipe tower brim is extruded.
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// toolchange_Change(writer, int(tool), m_material[tool]);
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if (purpose == PURPOSE_MOVE_TO_TOWER || purpose == PURPOSE_MOVE_TO_TOWER_AND_EXTRUDE)
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// Move with Z hop.
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writer.z_hop(m_zhop, 7200)
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.travel(initial_position, 6000)
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.z_hop_reset(7200);
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else
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writer.set_initial_position(initial_position);
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if (sideOnly) {
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float x_offset = m_perimeter_width;
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for (size_t i = 0; i < 4; ++ i, x_offset += m_perimeter_width)
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writer.travel (wipeTower_box.ld + xy(- x_offset, y_offset), 7000)
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.extrude(wipeTower_box.lu + xy(- x_offset, - y_offset), 2100);
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writer.travel(wipeTower_box.rd + xy(x_offset, y_offset), 7000);
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x_offset = m_perimeter_width;
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for (size_t i = 0; i < 4; ++ i, x_offset += m_perimeter_width)
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writer.travel (wipeTower_box.rd + xy(x_offset, y_offset), 7000)
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.extrude(wipeTower_box.ru + xy(x_offset, - y_offset), 2100);
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} else {
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// Extrude 4 rounds of a brim around the future wipe tower.
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box_coordinates box(wipeTower_box);
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//FIXME why is the box shifted in +Y by 0.5f * m_perimeter_width?
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box.translate(0.f, 0.5f * m_perimeter_width);
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box.expand(0.5f * m_perimeter_width);
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for (size_t i = 0; i < 4; ++ i) {
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writer.travel (box.ld, 7000)
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.extrude(box.lu, 2100).extrude(box.ru)
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.extrude(box.rd ).extrude(box.ld);
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box.expand(m_perimeter_width);
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if (purpose == PURPOSE_EXTRUDE || purpose == PURPOSE_MOVE_TO_TOWER_AND_EXTRUDE) {
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// Prime the extruder 10*m_perimeter_width left along the vertical edge of the wipe tower.
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writer.extrude_explicit(wipeTower_box.ld - xy(m_perimeter_width * 10.f, 0), m_retract, 2400);
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// The tool is supposed to be active and primed at the time when the wipe tower brim is extruded.
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// toolchange_Change(writer, int(tool), m_material[tool]);
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if (sideOnly) {
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float x_offset = m_perimeter_width;
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for (size_t i = 0; i < 4; ++ i, x_offset += m_perimeter_width)
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writer.travel (wipeTower_box.ld + xy(- x_offset, y_offset), 7000)
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.extrude(wipeTower_box.lu + xy(- x_offset, - y_offset), 2100);
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writer.travel(wipeTower_box.rd + xy(x_offset, y_offset), 7000);
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x_offset = m_perimeter_width;
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for (size_t i = 0; i < 4; ++ i, x_offset += m_perimeter_width)
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writer.travel (wipeTower_box.rd + xy(x_offset, y_offset), 7000)
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.extrude(wipeTower_box.ru + xy(x_offset, - y_offset), 2100);
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} else {
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// Extrude 4 rounds of a brim around the future wipe tower.
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box_coordinates box(wipeTower_box);
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//FIXME why is the box shifted in +Y by 0.5f * m_perimeter_width?
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box.translate(0.f, 0.5f * m_perimeter_width);
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box.expand(0.5f * m_perimeter_width);
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for (size_t i = 0; i < 4; ++ i) {
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writer.travel (box.ld, 7000)
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.extrude(box.lu, 2100).extrude(box.ru)
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.extrude(box.rd ).extrude(box.ld);
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box.expand(m_perimeter_width);
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}
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}
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}
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// Move to the front left corner and wipe along the front edge.
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writer.travel(wipeTower_box.ld, 7000)
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.travel(wipeTower_box.rd)
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.travel(wipeTower_box.ld)
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.append("; CP WIPE TOWER FIRST LAYER BRIM END\n"
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";-----------------------------------\n");
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// Move to the front left corner and wipe along the front edge.
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writer.travel(wipeTower_box.ld, 7000)
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.travel(wipeTower_box.rd)
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.travel(wipeTower_box.ld)
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.append("; CP WIPE TOWER FIRST LAYER BRIM END\n"
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";-----------------------------------\n");
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// Mark the brim as extruded.
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m_idx_tool_change_in_layer = 0;
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}
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return std::pair<std::string, xy>(writer.gcode(), writer.pos());
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}
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@ -425,7 +446,7 @@ void WipeTowerPrusaMM::toolchange_Unload(
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float xr = cleaning_box.rd.x - 0.5f * m_perimeter_width;
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float y_step = ((m_current_shape == SHAPE_NORMAL) ? 1.f : -1.f) * m_perimeter_width;
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writer.append("; CP TOOLCHANGE UNLOAD");
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writer.append("; CP TOOLCHANGE UNLOAD\n");
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// Ram the hot material out of the extruder melt zone.
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// Current extruder position is on the left, one perimeter inside the cleaning box in both X and Y.
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@ -613,7 +634,7 @@ void WipeTowerPrusaMM::toolchange_Done(
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.feedrate(6000);
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}
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std::pair<std::string, WipeTower::xy> WipeTowerPrusaMM::finish_layer()
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std::pair<std::string, WipeTower::xy> WipeTowerPrusaMM::finish_layer(Purpose purpose)
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{
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// This should only be called if the layer is not finished yet.
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// Otherwise the caller would likely travel to the wipe tower in vain.
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@ -624,7 +645,8 @@ std::pair<std::string, WipeTower::xy> WipeTowerPrusaMM::finish_layer()
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.set_z(m_z_pos)
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.append(";--------------------\n"
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"; CP EMPTY GRID START\n")
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.comment_with_value(" layer #", m_num_layer_changes ++);
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// m_num_layer_changes is incremented by set_z, so it is 1 based.
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.comment_with_value(" layer #", m_num_layer_changes - 1);
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// Slow down on the 1st layer.
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float speed_factor = m_is_first_layer ? 0.5f : 1.f;
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@ -638,60 +660,74 @@ std::pair<std::string, WipeTower::xy> WipeTowerPrusaMM::finish_layer()
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fill_box.rd.y += firstLayerOffset;
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}
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if (m_idx_tool_change_in_layer == 0)
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// There were no tool changes at all in this layer.
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writer.retract(m_retract * 1.5f, 3600)
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// Jump with retract to fill_box.ld + a random shift in +x.
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.z_hop(m_zhop, 7200)
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.travel(fill_box.ld + xy(5.f + 15.f * float(rand()) / RAND_MAX, 0.f), 7000)
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.z_hop_reset(7200)
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// Prime the extruder.
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.load_move_x(fill_box.ld.x, m_retract * 1.5f, 3600);
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// Extrude the first perimeter.
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box_coordinates box = fill_box;
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writer.extrude(box.lu, 2400 * speed_factor)
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.extrude(box.ru)
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.extrude(box.rd)
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.extrude(box.ld + xy(m_perimeter_width / 2, 0));
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// Extrude second perimeter.
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box.expand(- m_perimeter_width / 2);
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writer.extrude(box.lu, 3200 * speed_factor)
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.extrude(box.ru)
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.extrude(box.rd)
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.extrude(box.ld + xy(m_perimeter_width / 2, 0))
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.extrude(box.ld + xy(m_perimeter_width / 2, m_perimeter_width / 2));
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// Extrude an inverse U at the left of the region.
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writer.extrude(fill_box.ld + xy(m_perimeter_width * 3, m_perimeter_width), 2900 * speed_factor)
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.extrude(fill_box.lu + xy(m_perimeter_width * 3, - m_perimeter_width))
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.extrude(fill_box.lu + xy(m_perimeter_width * 6, - m_perimeter_width))
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.extrude(fill_box.ld + xy(m_perimeter_width * 6, m_perimeter_width));
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if (fill_box.lu.y - fill_box.ld.y > 4.f) {
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// Extrude three zig-zags.
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float step = (m_wipe_tower_width - m_perimeter_width * 12.f) / 12.f;
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for (size_t i = 0; i < 3; ++ i) {
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writer.extrude(writer.x() + step, fill_box.ld.y + m_perimeter_width * 8, 3200 * speed_factor);
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writer.extrude(writer.x() , fill_box.lu.y - m_perimeter_width * 8);
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writer.extrude(writer.x() + step, fill_box.lu.y - m_perimeter_width );
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writer.extrude(writer.x() + step, fill_box.lu.y - m_perimeter_width * 8);
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writer.extrude(writer.x() , fill_box.ld.y + m_perimeter_width * 8);
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writer.extrude(writer.x() + step, fill_box.ld.y + m_perimeter_width );
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if (purpose == PURPOSE_MOVE_TO_TOWER || purpose == PURPOSE_MOVE_TO_TOWER_AND_EXTRUDE) {
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if (m_idx_tool_change_in_layer == 0) {
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// There were no tool changes at all in this layer.
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writer.retract(m_retract * 1.5f, 3600)
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// Jump with retract to fill_box.ld + a random shift in +x.
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.z_hop(m_zhop, 7200)
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.travel(fill_box.ld + xy(5.f + 15.f * float(rand()) / RAND_MAX, 0.f), 7000)
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.z_hop_reset(7200)
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// Prime the extruder.
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.load_move_x(fill_box.ld.x, m_retract * 1.5f, 3600);
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} else {
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// Otherwise the extruder is already over the wipe tower.
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}
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} else {
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// The print head is inside the wipe tower. Rather move to the start of the following extrusion.
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// writer.set_initial_position(fill_box.ld);
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writer.travel(fill_box.ld, 7000);
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}
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// Extrude an inverse U at the left of the region.
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writer.extrude(fill_box.ru + xy(- m_perimeter_width * 6, - m_perimeter_width), 2900 * speed_factor)
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.extrude(fill_box.ru + xy(- m_perimeter_width * 3, - m_perimeter_width))
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.extrude(fill_box.rd + xy(- m_perimeter_width * 3, m_perimeter_width))
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.extrude(fill_box.rd + xy(- m_perimeter_width, m_perimeter_width))
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// Wipe along the front side of the current wiping box.
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.travel(fill_box.ld + xy( m_perimeter_width, m_perimeter_width / 2), 7200)
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.travel(fill_box.rd + xy(- m_perimeter_width, m_perimeter_width / 2))
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.append("; CP EMPTY GRID END\n"
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";------------------\n\n\n\n\n\n\n");
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if (purpose == PURPOSE_EXTRUDE || purpose == PURPOSE_MOVE_TO_TOWER_AND_EXTRUDE) {
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// Extrude the first perimeter.
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box_coordinates box = fill_box;
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writer.extrude(box.lu, 2400 * speed_factor)
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.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());
|
||||
}
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue