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* Correct the unload length on the MK3S side 

* Pull all numbers into global constants
This commit is contained in:
Guðni Már Gilbert 2022-06-28 20:44:35 +00:00 committed by D.R.racer
parent 6eb2767dd2
commit 3520020b24
1 changed files with 31 additions and 11 deletions
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42
Firmware/mmu2.cpp
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@ -35,8 +35,24 @@ static constexpr float MMU2_LOAD_TO_NOZZLE_LENGTH = 87.0F + 5.0F;
// in the profile
static constexpr float MMU2_TOOL_CHANGE_LOAD_LENGTH = 30.0F;
static constexpr float MMU2_LOAD_TO_NOZZLE_FEED_RATE = 20.0F;
static constexpr float MMU2_UNLOAD_TO_FINDA_FEED_RATE = 120.0F;
static constexpr float MMU2_LOAD_TO_NOZZLE_FEED_RATE = 20.0F; // mm/s
static constexpr float MMU2_UNLOAD_TO_FINDA_FEED_RATE = 120.0F; // mm/s
// The first the MMU does is initialise its axis. Meanwhile the E-motor will unload 10mm of filament in approx. 1 second.
static constexpr float MMU2_RETRY_UNLOAD_TO_FINDA_START_LENGTH = 10.0f; // mm
static constexpr float MMU2_RETRY_UNLOAD_TO_FINDA_START_FEED_RATE = 10.0f; // mm/s
// This is -config::defaultBowdenLength - config::feedToFinda - config::filamentMinLoadedToMMU
// To prevent an error 'too long extrusion prevented' this distance is split into two constants:
static constexpr float MMU2_RETRY_UNLOAD_TO_FINDA_BOWDEN_LENGTH = 427.0f; // mm
static constexpr float MMU2_RETRY_UNLOAD_TO_FINDA_EXTRA_LENGTH = 42.85f + 20.0f; // mm
// The E-motor must move endlessly until the MMU raises an error, or the FINDA untriggers
// This must be non-blocking for the MMU communications, so we need to unload small segments of
// filament at a time. A fine balance is 6mm of filament at 60mm/s. Though this can be fine tuned.
static constexpr float MMU2_RETRY_UNLOAD_TO_FINDA_FINE_STEP_LENGTH = 6.0f; // mm
static constexpr float MMU2_RETRY_UNLOAD_TO_FINDA_FINE_STEP_FEED_RATE = 60.0f; // mm/s
static constexpr uint8_t MMU2_NO_TOOL = 99;
static constexpr uint32_t MMU_BAUD = 115200;
@ -794,12 +810,15 @@ void MMU2::OnMMUProgressMsg(ProgressCode pc){
// in the gears, the MK3S needs to move e-axis as well.
st_synchronize();
unloadFilamentStarted = true;
// Unload slowly while MMU is initalising its axis
current_position[E_AXIS] -= 10.0f;
plan_buffer_line_curposXYZE(10.0f);
// Unload slowly while MMU is initialising its axis
current_position[E_AXIS] -= MMU2_RETRY_UNLOAD_TO_FINDA_START_LENGTH;
plan_buffer_line_curposXYZE(MMU2_RETRY_UNLOAD_TO_FINDA_START_FEED_RATE);
st_synchronize();
// Now do a fast unload in sync with the MMU
current_position[E_AXIS] -= 427.0f - 42.85f - 20.0f; // Roughly same distance as MMU plans
current_position[E_AXIS] -= MMU2_RETRY_UNLOAD_TO_FINDA_EXTRA_LENGTH;
plan_buffer_line_curposXYZE(MMU2_UNLOAD_TO_FINDA_FEED_RATE);
st_synchronize();
current_position[E_AXIS] -= MMU2_RETRY_UNLOAD_TO_FINDA_BOWDEN_LENGTH; // Roughly same distance as MMU plans
plan_buffer_line_curposXYZE(MMU2_UNLOAD_TO_FINDA_FEED_RATE);
break;
case ProgressCode::FeedingToBondtech:
@ -818,12 +837,13 @@ void MMU2::OnMMUProgressMsg(ProgressCode pc){
if (unloadFilamentStarted && !blocks_queued()) { // Only plan a move if there is no move ongoing
if (mmu2.FindaDetectsFilament() == 1)
{ // Keep moving the E-motor until and error happens or FINDA untriggers
current_position[E_AXIS] -= 6.0f;
plan_buffer_line_curposXYZE(60.0f);
{
// We cannot rely on the FSENSOR reading to stop the E-motor
// because the filament can get stuck in the bondtech gears.
// Use FINDA instead.
current_position[E_AXIS] -= MMU2_RETRY_UNLOAD_TO_FINDA_FINE_STEP_LENGTH;
plan_buffer_line_curposXYZE(MMU2_RETRY_UNLOAD_TO_FINDA_FINE_STEP_FEED_RATE);
} else {
// Only stop moving the motor if FINDA is still triggered.
// Even if the FSENSOR is 0, the filament may get stuck in the bondtech gears
unloadFilamentStarted = false;
}
}