/**
* ************************************************************************* commands for
* interfacing with the driver directly
*
* @throws RetryException ************************************************************************
*/
public void queuePoint(Point5d p) throws RetryException {
String cmd = "G1 F" + df.format(getCurrentFeedrate());
sendCommand(cmd);
cmd =
"G1 X"
+ df.format(p.x())
+ " Y"
+ df.format(p.y())
+ " Z"
+ df.format(p.z())
+ " F"
+ df.format(getCurrentFeedrate());
sendCommand(cmd);
super.queuePoint(p);
}
public void setCurrentPosition(Point5d p) throws RetryException {
sendCommand("G92 X" + df.format(p.x()) + " Y" + df.format(p.y()) + " Z" + df.format(p.z()));
super.setCurrentPosition(p);
}
/**
* A toolchange is the code that goes in between commands for one head and commands for the other
* this function creates a toolchange from a tool doing one layer to a tool doing another layer
*/
private Layer toolchange(
final ToolheadAlias fromTool,
final Layer fromLayer,
final ToolheadAlias toTool,
final Layer toLayer) {
/*
* How does a toolchange work? Glad you asked:
* First we need to do any operations relating to the previous nozzle.
* I think this is only a small reversal. It needs to be small because
* the previous layer may have ended with a reversal, and if we then
* reverse on top of that we'll lose the filament.
* We need to prepare the nozzle that we're switching to, which means
* doing a purge and wipe, if available.
* The purge is to undo the reversal from before, the wipe rubs the
* nozzle across a special piece on the machine.
* If wipes are turned off, do we still do purge? because that could
* end us up with all kindsa junk on the outside of the object.
* For wipes: Since we're moving to another position to do the wipe, we
* have to record the next position we want to be at, because if we
* start the next layer from a random place we might end up spewing
* plastic all the way to that point.
* At the end of a toolchange, we should disable whichever extruder is
* not being used using M18 A B (on the next call to whichever axis
* it'll start up again)
*
* toolchange psudocode:
*
* Layer toolchange = new Layer
*
* if wipes
* layer.add(wipes)
*
* nextPos = get next position (first G1 of next layer)
* layer.add(move up, perhaps just above the next layer height, as quickly as is reasonable)
* layer.add(move to nextPos, also fairly quickly)
* layer.add(set speed to F from nextPos, or,
* if that's not present, the last F from the previous layer)
*
* layer.add(M18 A B)
*/
final ArrayList<String> result = new ArrayList<String>();
// debug code///////////////////////////
result.add("(*************start toolchange*************)");
//////////////////////////////////////
if (useWipes) {
// The left/right distinction isn't actually important here
// on a tom you have to wipe both heads, and on a replicator
// wiping either does both
result.addAll(wipe(leftWipe));
if (machineType != MachineType.THE_REPLICATOR) result.addAll(wipe(rightWipe));
}
result.add(toTool.getRecallOffsetGcodeCommand());
result.add("M108 " + toTool.getTcode() + "(Set tool)");
// Ben's suggestion
result.add("M18 A B");
final DecimalFormat nf = (DecimalFormat) Base.getGcodeFormat();
final Point5d firstPos = getFirstPosition(toLayer);
firstPos.setZ(getLayerZ(toLayer));
if (firstPos != null) {
// The F here is a magic number, you can read about it in the 'wipe()' function
// move up fairly quickly
result.add("G1 Z" + nf.format(firstPos.z()) + " F3000");
// move to the next point
result.add(
"G1 X"
+ nf.format(firstPos.x())
+ " Y"
+ nf.format(firstPos.y())
+ " Z"
+ nf.format(firstPos.z())
+ " F3000");
}
// else
// {
//// System.err.print(toLayer);
// }
// TODO: catch possible null pointer exceptions?
// set the feedrate with an empty G1
String feedrate = getFirstFeedrate(toLayer);
if (feedrate.equals("")) feedrate = getLastFeedrate(fromLayer);
result.add("G1 " + feedrate);
// debug code///////////////////////////
result.add("(*************end toolchange*************)");
//////////////////////////////////////
// The 'height' of the toolchange. just the average of the surrounding layers because why not?
final double height = (toLayer.getHeight() - fromLayer.getHeight()) / 2;
return new Layer(height, result);
}