├── .gitignore
├── CHANGELOG.md
├── License
├── README.md
├── doc
├── BOM.md
└── RandomThoughts.md
├── mmu2-diy
├── application.cpp
├── application.h
└── mmu2-diy.ino
├── piolib
└── readme.txt
├── platformio.ini
└── stls
├── MK3 Filament Cover (CSK Design).stl
├── MMU2 Selector Cover with modified center hole.stl
└── NEMA17 Motor Holder Offset for MMU2.stl
/.gitignore:
--------------------------------------------------------------------------------
1 |
2 | platformio\.pro
3 |
4 | \.pioenvs/
5 |
6 | platformio\.pro\.user
7 |
--------------------------------------------------------------------------------
/CHANGELOG.md:
--------------------------------------------------------------------------------
1 | Changelog for DIY MMU 2.0
2 | =========================
3 |
4 |
5 |
6 | # 2018-10-18
7 | * refactored repository
8 | * restructured folders and filenames
9 | * add platformio.ini
10 | * add wrapper class Application for compatibility with
11 | Arduino IDE and Platformio with QtCreator.
12 | Tested compiling with Arduino IDE 1.8.5
13 | * reduced RAM usage using progmem macro F() from 139% to 45%
14 | for Arduino Leonardo
15 |
--------------------------------------------------------------------------------
/License:
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565 | 14. Revised Versions of this License.
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602 | 16. Limitation of Liability.
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--------------------------------------------------------------------------------
/README.md:
--------------------------------------------------------------------------------
1 | DIY Multi Material Upgrade V2.0
2 | ==========================
3 | firmware clone project
4 | --------------------------------
5 |
6 | This code was developed on an Arduino Mega board using three 8825 stepper motors to control the MMU2 multi-color print head.
7 | It was designed to operate with the PRUSA mk3 printer. This code was developed to replace the stock MMU2 controller board, I got bored so I decided to create my own design. Getting it to play nicely with the mk3 was quite a challenge. This home brew MMU2 only will operate with the MK3 currently.
8 |
9 | You will need an Arduino Mega 2560 processor board and a RAMPS 1.5 or RAMPS 1.6 shield (for the stepper motor controllers) - both are available on Amazon (see my BOM for additional details)
10 |
11 | A serial cable is required (5 pin) in order to communicate between this board and the Mk3 controller. (Vcc, Tx, Rx, GND, Reset). Only 3 pins are required (Tx, Rx and Reset) in order to work properly with the Mk3.
12 |
13 |
14 | ## WARNING:
15 | This project is a work in progress and requires a knowledge of Mk3 hardware and software. If you don't know what you are doing, you can/will PERMANENTLY damage your hardware. I hope you have been appropriately warned.
16 |
17 | ## ADDITIONAL WARNING
18 | you probably won't read this because it is too far down the page:
19 |
20 | **Stepper Motor controllers (8825) are high current devices and they get warm/hot. You can damage these controller easily
21 | (I have) if you don't adjust the source current. There is a very small variable resister you will have to adjust, I
22 | recommend setting this to 0.6V (details on how to adjust this are on the polulu.com website - look for 8825 stepper
23 | motor controller). If you don't have a multimeter for measuring voltage then STOP - you are in deep waters.**
24 |
25 | # TODOs
26 | * Document Pinouts for each of the stepper motors
27 | * Document Pinouts for 2 sensor cables
28 | * Document Pinouts for Cable between MMU2 controller and MK3 controller (TX, RX, Reset, Vcc)
29 |
--------------------------------------------------------------------------------
/doc/BOM.md:
--------------------------------------------------------------------------------
1 | DIY Prusa Multi Material Upgrade (MMU) 2.0
2 | ==========================================
3 | Bill of Materials (10.20.2018)
4 | ------------------------------
5 | For firmware, please refer to https://github.com/cskozlowski/mmu2
6 |
7 | Be warned, this is a very difficult project.
8 | Everyone wants to know the $$$, the list below is under $200 (US).
9 | The most expensive parts are: stepper motors ($30 for the three I purchased), arduino ($14) and RAMPS 1.6 board ($14).
10 | This is a starter list of stuff you will need to complete this MMU2 home brew clone
11 |
12 | # Change Notes:
13 | * 10.20.18 Added another stepper motor alternative (w/ proper axles) - from aliexpress.com
14 | * 10.17.18 Added 3 STL files required for build of the home-brew MMU2 (do the NEMA17 holder in PETG, other pieces can be
15 | done in PLA or PETG)
16 | * 10.16.18 Changed the stepper motor recommendation, you can also get them on aliexpress.com)
17 | * 10.10.18 Added references to 3 STL design files that you will need (see STL for additional details)
18 | * 10.9.18 626-ZZ should say 625-ZZ bearings ... 626-ZZ are rarer than 1.85mm PTFE
19 | * 10.9.18 Added 7mm ball bearing (you need this for the FINDA detector)
20 | * 10.9.18 Added 5mm x 8mm coupler (need this for the selector stepper motor to threaded rod)
21 |
22 | # BOM
23 |
24 | ## Prusa Parts
25 | * MMU2 plastic parts - https://www.prusa3d.com/prusa-i3-printable-parts/
26 |
27 | ## Motors
28 |
29 | * ~~3 Stepper Motors~~
30 | (DO NOT PURCHASE THESE MOTORS, THEY DO NOT HAVE SUFFICIENT STALL TORQUE)(https://www.amazon.com/gp/product/B0716S32G4/ref=oh_aui_detailpage_o03_s00?ie=UTF8&psc=1)
31 | (these motors are super cheap $10 per motor ... don't buy them because they don't have sufficient torque)
32 | (I used them for 3 weeks and chased problems that won't be there if you get better motors
33 | (get the motors I list below)
34 |
35 |
36 | * 3 Stepper Motors
37 | (PURCHASE THESE STEPPER MOTORS INSTEAD)(https://www.amazon.com/gp/product/B06XSYP24P/ref=oh_aui_detailpage_o01_s00?ie=UTF8&psc=1)
38 |
39 | (these motors have 46 N-cm of stall torque. They idler stepper motor needs quite a bit of stall torque to stay
40 | in place when the bearing is being moved against the extruder stepper motor).
41 |
42 | Get a motor with a minimum of 45 N-cm of stall torque (you will thank me later)
43 |
44 | Another potential alternative is these 3 stepper motors (they have proper shafts for the MMU2)
45 | https://www.aliexpress.com/item/Prusa-i3-mk3-mk2-5-Multi-materials-2-0-3d-printer-motor-kit-MMU2-0/32923672790.html?spm=a2g0s.9042311.0.0.162b4c4dO5RBTY (I have them on order but have not received them yet for testing)
46 |
47 | ## Other Stuff
48 | * 5 mk8 hobbed gears (https://www.amazon.com/gp/product/B07CJPP7R7/ref=oh_aui_detailpage_o03_s00?ie=UTF8&psc=1)
49 | * 2 100mm x 5mm steel shafts (https://www.amazon.com/gp/product/B01B27MJC6/ref=oh_aui_detailpage_o04_s00?ie=UTF8&psc=1)
50 | (these shafts are used to make your 16mm spindles for the bearings, you can also order 16mm x 5mm spindles from McMcaster-Carr,
51 | (however, they are wicked tight on the bearings)
52 | * 2 150mm x 5mm steel shafts (https://www.amazon.com/gp/product/B01B5QTM8I/ref=oh_aui_detailpage_o01_s00?ie=UTF8&psc=1)
53 | (these shafts are used for the selector head shaft guides, you will have to cut them down to size)
54 | (if you don't know how to cut steel shafts then please stop and go do something else)
55 | * 9 625-ZZ bearings (https://www.amazon.com/gp/product/B01CUTIQWW/ref=oh_aui_detailpage_o04_s01?ie=UTF8&psc=1)
56 | * 20 3mm thin (1.8mm) square nuts) https://www.amazon.com/gp/product/B073SBCMBM/ref=oh_aui_detailpage_o05_s00?ie=UTF8&psc=1
57 | * 1 5mm x 5mm coupler https://www.amazon.com/gp/product/B0159WO7T8/ref=oh_aui_detailpage_o02_s00?ie=UTF8&psc=1
58 | (you need one but buy two because you can)
59 | * 1 5mm x 8mm coupler (amazon.com ... too lazy to provide the link at the moment).
60 | * 25' 4mm OD x 2mm ID PTFE Tubing (https://www.amazon.com/gp/product/B073RFQQ3Z/ref=oh_aui_detailpage_o09_s00?ie=UTF8&th=1)
61 | Needed for the feeders from the spools to the MMU2 unit, you will learn to hate PTFE tubing
62 | * 1 50mm 4mm OD x 1.85mm ID PTFE Tubing (flurostore.com has 1.80mm ID tubing - it works !!!)
63 | By far the most difficult part to obtain, it should just be called unobtanium
64 | * 1 150mm x 8mm threaded shaft (https://www.amazon.com/gp/product/B07C8P1DWX/ref=oh_aui_detailpage_o08_s01?ie=UTF8&psc=1)
65 | (yes, you will have to cut it to size using some of your cool shop tools)
66 | * 10 PC4-10 PTFE connectors (https://www.amazon.com/gp/product/B01IB81IHG/ref=oh_aui_detailpage_o02_s00?ie=UTF8&psc=1)
67 | (get these, they are awesome)
68 | * 1 12-15V, 2A Power supply - needed for the Arduino Mega/RAMPS board for initial testing
69 | * 1 Arduino Mega 2560 (https://www.amazon.com/gp/product/B01H4ZDYCE/ref=oh_aui_detailpage_o01_s00?ie=UTF8&psc=1)
70 | * 1 1.x RAMPS Boards (https://www.amazon.com/gp/product/B0794YN8XK/ref=oh_aui_detailpage_o09_s00?ie=UTF8&psc=1)
71 | (home for all of your stepper motor controllers)
72 | * 3 8825 Stepper Motor Controller (https://www.amazon.com/gp/product/B00S3Q9YZA/ref=oh_aui_detailpage_o05_s00?ie=UTF8&psc=1)
73 | (make certain to tweak the voltage rheostat on the top of this little wonder, goto polulu website)
74 | (I currently have mine set to 0.60V - don't go too high you will fry this component)
75 | * 1 Razor Blades (https://www.amazon.com/gp/product/B007QYAJRC/ref=oh_aui_detailpage_o07_s00?ie=UTF8&psc=1)
76 | * 1 microswitch (https://www.amazon.com/gp/product/B06XSBYQ8H/ref=oh_aui_detailpage_o05_s00?ie=UTF8&psc=1)
77 | * 1 FINDA (aka PINDA) Probe (https://www.amazon.com/URBEST-Detecting-Distance-Inductive-Proximity/dp/B01M1777XK/ref=sr_1_fkmr1_3?s=industrial&ie=UTF8&qid=1538915473&sr=1-3-fkmr1&keywords=prusa+pinda+probe)
78 | ( I had a spare probe laying around so I have NOT tried this inductive probe)
79 | (they are also available from aliexpress.com)
80 | * 1 7mm ball bearing (mcmaster.carr or amazon), you only need one but you will have to buy many more
81 | * 2 6mm OD x .45mm thick brass tubing (ksmetals.com - part #982, this comes in 300mm length and you will have to cut it down)
82 |
83 | ## Custom STL Files
84 | * 1 MMU2 to PTFE Festo Coupler
85 | * 1 MK3 to PTFE Festo Coupler (w/ microswitch holder)
86 | * 1 Selector Motor Mount offset block
87 |
88 | ## DigiKey Components (needed for cables and wiring)
89 | (to be completed)
90 |
91 |
92 |
93 |
94 | ## Random Tools
95 | (it's a project, you've got to buy new tools - you live for this stuff)
96 | * 1 Reamer (https://www.amazon.com/gp/product/B01EIH573K/ref=oh_aui_detailpage_o07_s00?ie=UTF8&psc=1)
97 | (used to make awesome interior bevelled edges in that damn 2mm (and 1.80mm) PTFE
98 | * 50mm cutting jig (https://www.thingiverse.com/thing:3062809)
99 | (oh look, you get to make something with your 3d printer)
100 |
--------------------------------------------------------------------------------
/doc/RandomThoughts.md:
--------------------------------------------------------------------------------
1 | Random Thoughts on the DIY MMU 2.0
2 | ======================
3 | by Chuck Kozlowski
4 | ----------------------------
5 |
6 | I started the home-brew MMU2 project on September 19th, 2018. It has now been 4 weeks and the unit has been working quite well over the past few days after a solid month of tinkering. Here are a couple of things to help those with their MMU2 adventures not necessarily in any type of useful order:
7 |
8 | # 1. Filament Path
9 | make certain your path from the filament spool all the way to the top of the mk3 extruder is smooth and does not bind. If there is any binding, find the source (typically at one of the interface points) and fix it. You will need to do this for each of the 5 filament paths. I can't emphasize this enough - you need to have each filament path flowing smoothhly in order for the MMU2 to operate correctly. If you don't do this, you will pay the price for both filament loading and unloading while the MMU2 is attempting to manipulate the filament.
10 |
11 | # 2. Festo Couplers
12 | I used 10mm OD (threaded) x 4mm (ID) couplers at ALL interface points (one at the selector of the MMU2 and another at the top of the MK3). My filament touches no metal and this is key to avoid small filament shavings from accumulating while the MMU2 is operating
13 |
14 | # 3. Filament Loading
15 | ## Part 1
16 | I realize that the stock MMU2 requires the operator to dial-in the filament length for each of the 5 filaments. Make certain you take the time to open the bondtech door and see that the filament is going ALL the way to the middle of the bondtech gear. If you don't do this then you will have intermittent filament-load issues which usuallly result in a missing layer during operation
17 | ## Part 2
18 | I chose to modify the fundamental design and added a 2nd filament sensor at the top of the MK3 extruder so I know that the filament is actually getting loaded. In fact, I don't really care about the length of the bowden tube from the MMU2 to the MK3 extruder since the sensor tells me when the filament has arrived. When the filament arrives, I push it an additional 31mm and it lands right in the middle of the bondtech gear EVERY time. I think that the current design of the MMU2 is fundamentally flawed in this area and you will have a difficult time operating 100% of the time without a modification similar to the one I just outlined.
19 |
20 | # 4. Filament Unloading
21 | This is another tricky area since the hot-end does things to the end of the filament during an extraction. The goal is to form a tip with no stringiness before the filament unload occurs. If you have not replaced your stock 2.00mm PTFE hot-end part (50mm in length) then STOP reading and go and install the provided part from your kit (1.85mm PTFE). Since I built my unit from scratch and there is no 1.85mm PTFE in the wild - I procured some 1.80mm PTFE (flurostore.com) and it works wonderfully. The main reason for this critical piece is to make sure the blob that naturally forms on the end of the filament during a full retraction needs to stay below the magical 2.00mm PTFE ID width. If you don't do this upgrade then you will have filament unload jamming and that is suck factor 10.
22 |
23 | # 5. Slic3r Settings
24 | Make sure your 'Cooling Moves' are at least 2 when you start. This is key to forming a properly filament tip during the filament unload process. Make certain that your 'filament load' setting is at least 21 mm/sec. I have mine currently set at 30 mm/sec but that is because I have tuned my firmware in the MMU2 to match this speed. There are some very critical things happending for up to 2 seconds during a filament load when both the MMU2 gears and the MK3 bondtech gear are operating synchronously - if you don't have the speeds match then you will hear filament grinding. Grinding is not your friend - you will need to adjust the filament load speed until grinding stops.
25 |
--------------------------------------------------------------------------------
/mmu2-diy/application.cpp:
--------------------------------------------------------------------------------
1 | // CSK MMU2 Controller Version
2 | //
3 | // Code developed by Chuck Kozlowski
4 | // September 19, 2018
5 | //
6 | // Code was developed because I am impatiently waiting for my MMU2 to arrive (due in December, 2018) so I thought
7 | // I would develop some code to operate the PRUSA MMU2 hardware
8 | //
9 | // This code uses 3 stepper motor controllers and 1 Pinda filament sensor, and 1 additional filament sensor on the mk3 extruder top
10 | //
11 | //
12 | // Work to be done: Interface Control with the Einsy Board (MK3) - (work completed on 9.25.18)
13 | // Refine speed and acceleration settings for each stepper motor
14 | // Failure Recovery Modes - basically non-existent (work completed on 10.5.18)
15 | //
16 | // Uses the serial interface with a host computer at the moment - probably could do some smarter things
17 | // like selection switches and some LEDs.
18 | // 10.14.18 Leave the Selector Stepper Motor ON ... appear to be losing position with the selector during operation
19 | // [now using the J-4218HB2301 Stepper Motor - (45 N-cm torque) as the idler stepper motor]
20 | // 10.14.18 Added yet another idler command set (specialparkidler() and specialunparkidler) - used within the 'C' Command
21 | // Idler management is a bit of challenge, probably has more to do with my coding skills (or lack thereof).
22 | // 10.12.18 Minor fix to idler parking ... now use quickparkidler() after 'C' command and quickunparkidler() at beginning of 'T' command
23 | // This helps to speed up the idler movements during 'T' and 'C' commands
24 | // 10.5.18 Made major tweak to the 'C' command, now matches the speed of the mk3 extruder gear (see slic3r 'load' setting)
25 | // 10.2.18 Moved from breadboard to RAMPS 1.6 Board and remapped ALL addresses
26 | // Discovered the filament idler motor needed to be set at a higher torque (more current)
27 | // (this was affected filament load consistency)
28 | // 10.2.18 Major Disaster, lost my codebase on my PC (I am an idiot)
29 | // Thank God for github so I could recover a week old version of my code
30 | // 10.1.18 Added filament sensor to the extruder head (helps reliability
31 |
32 |
33 | //#include
34 | #include
35 | #include
36 | #include
37 | #include
38 | #include "application.h"
39 |
40 |
41 |
42 | static int isFilamentLoaded();
43 | static void initIdlerPosition();
44 | static void checkSerialInterface();
45 | static void initColorSelector();
46 | static void filamentLoadWithBondTechGear();
47 | static void toolChange( char selection);
48 | static void quickUnParkIdler();
49 | static void unParkIdler();
50 | static void unloadFilamentToFinda();
51 | static void parkIdler();
52 | static void activateColorSelector();
53 | static void idlerSelector(char filament);
54 | static void colorSelector(char selection);
55 | static void loadFilamentToFinda();
56 | static void fixTheProblem(String statement);
57 | static void csTurnAmount(int steps, int direction);
58 | static void feedFilament(unsigned int steps);
59 |
60 |
61 | #define SERIAL1ENABLED 1
62 | #define ENABLE LOW // 8825 stepper motor enable is active low
63 | #define DISABLE HIGH // 8825 stepper motor disable is active high
64 |
65 | #define MMU2_VERSION "4.2 10/12/18"
66 |
67 | #define STEPSPERMM 144 // these are the number of steps required to travel 1 mm using the extruder motor
68 |
69 | #define FW_VERSION 90 // config.h (MM-control-01 firmware)
70 | #define FW_BUILDNR 85 // config.h (MM-control-01 firmware)
71 |
72 | #define ORIGINALCODE 0 // code that is no longer needed for operational use
73 | int command = 0;
74 |
75 | // changed from 125 to 115 (10.13.18)
76 | #define MAXROLLERTRAVEL 125 // number of steps that the roller bearing stepper motor can travel
77 |
78 | #define FULL_STEP 1
79 | #define HALF_STEP 2
80 | #define QUARTER_STEP 4
81 | #define EIGTH_STEP 8
82 | #define SIXTEENTH_STEP 16
83 |
84 | #define STEPSIZE SIXTEENTH_STEP // setup for each of the three stepper motors (jumper settings for M0,M1,M2) on the RAMPS 1.x board
85 |
86 | #define STEPSPERREVOLUTION 200 // 200 steps per revolution - 1.8 degree motors are being used
87 |
88 | #define MAXSELECTOR_STEPS 1890 // maximum number of selector stepper motor (used to move all the way to the right or left
89 |
90 | #define MMU2TOEXTRUDERSTEPS STEPSIZE*STEPSPERREVOLUTION*19 // for the 'T' command
91 |
92 | #define CW 0
93 | #define CCW 1
94 |
95 | #define INACTIVE 0 // used for 3 states of the idler stepper motor (parked)
96 | #define ACTIVE 1 // not parked
97 | #define QUICKPARKED 2 // quick parked
98 |
99 |
100 | //************************************************************************************
101 | //* this resets the selector stepper motor after the selected number of tool changes
102 | //* changed from 25 to 10 (10.10.18)
103 | //* chagned from 10 to 8 (10.14.18)
104 | //*************************************************************************************
105 | #define TOOLSYNC 20 // number of tool change (T) commands before a selector resync is performed
106 |
107 |
108 |
109 | #define PINHIGH 10 // how long to hold stepper motor pin high in microseconds
110 | #define PINLOW 10 // how long to hold stepper motor pin low in microseconds
111 |
112 |
113 |
114 | // the MMU2 currently runs at 21mm/sec (set by Slic3r) for 2 seconds (good stuff to know)
115 | //
116 | // the load duration was chagned from 1 second to 1.1 seconds on 10.8.18 (as an experiment)
117 | // increased from 1.1 to 1.5 seconds on 10.13.18 (another experiment)
118 | #define LOAD_DURATION 1600 // duration of 'C' command during the load process (in milliseconds)
119 |
120 |
121 | // changed from 21 mm/sec to 30 mm/sec on 10.13.18
122 | #define LOAD_SPEED 30 // load speed (in mm/second) during the 'C' command (determined by Slic3r setting)
123 | #define INSTRUCTION_DELAY 25 // delay (in microseconds) of the loop
124 |
125 |
126 |
127 | #define IDLERSTEPSIZE 23 // steps to each roller bearing
128 | //float bearingAbsPos[5] = {1, 24, 48, 72, 96}; // absolute position of roller bearing stepper motor
129 | float bearingAbsPos[5] = {0, IDLERSTEPSIZE, IDLERSTEPSIZE * 2, IDLERSTEPSIZE * 3, IDLERSTEPSIZE * 4};
130 |
131 |
132 |
133 | // changed position #2 to 372 (still tuning this little sucker)
134 |
135 |
136 | #define CSSTEPS 357 //
137 | int selectorAbsPos[5] = {0, CSSTEPS * 1, CSSTEPS * 2, CSSTEPS * 3, CSSTEPS * 4}; // absolute position of selector stepper motor
138 |
139 |
140 | int trackToolChanges = 0;
141 | int extruderMotorStatus = INACTIVE;
142 |
143 |
144 | int currentCSPosition = 0; // color selector position
145 | int currentPosition = 0;
146 |
147 | int repeatTCmdFlag = INACTIVE; // used by the 'C' command processor to avoid processing multiple 'C' commands
148 |
149 | int oldBearingPosition = 0; // this tracks the roller bearing position (top motor on the MMU)
150 | int filamentSelection = 0; // keep track of filament selection (0,1,2,3,4))
151 | int dummy[100];
152 | char currentExtruder = '0';
153 |
154 | int firstTimeFlag = 0;
155 | int earlyCommands = 0; // forcing communications with the mk3 at startup
156 |
157 | int toolChangeCount = 0;
158 |
159 | char receivedChar;
160 | boolean newData = false;
161 | int idlerStatus = INACTIVE;
162 | int colorSelectorStatus = INACTIVE;
163 |
164 | //*************************************************************************************************
165 | // Delay values for each stepper motor
166 | //*************************************************************************************************
167 | #define IDLERMOTORDELAY 540 //540 useconds (idler motor) was at '500' on 10.13.18
168 | #define EXTRUDERMOTORDELAY 50 // 150 useconds (controls filament feed speed to the printer)
169 | #define COLORSELECTORMOTORDELAY 60 // 60 useconds (selector motor)
170 |
171 |
172 | // added this pin as a debug pin (lights a green LED so I can see the 'C0' command in action
173 | #define greenLED 14
174 |
175 | // modified code on 10.2.18 to accomodate RAMPS 1.6 board mapping
176 | //
177 | #define idlerDirPin A7
178 | #define idlerStepPin A6
179 | #define idlerEnablePin A2
180 |
181 |
182 |
183 | #define extruderDirPin 48 // pin 48 for extruder motor direction pin
184 | #define extruderStepPin 46 // pin 48 for extruder motor stepper motor pin
185 | #define extruderEnablePin A8 // pin A8 for extruder motor rst/sleep motor pin
186 |
187 | #define colorSelectorDirPin A1 //color selector stepper motor (driven by trapezoidal screw)
188 | #define colorSelectorStepPin A0
189 | #define colorSelectorEnablePin 38
190 |
191 |
192 |
193 | #define findaPin A3
194 | // this is pin D3 on the arduino MEGA 2650
195 | #define filamentSwitch 3 // this switch was added on 10.1.18 to help with filament loading (X- signal on the RAMPS board)
196 |
197 |
198 | //SoftwareSerial Serial1(10,11); // RX, TX (communicates with the MK3 controller board
199 |
200 | int f0Min = 1000, f1Min = 1000, f2Min = 1000, f3Min = 1000, f4Min = 1000;
201 | int f0Max, f1Max, f2Max, f3Max, f4Max = 0;
202 | int f0Avg, f1Avg, f2Avg, f3Avg, f4Avg;
203 | long f0Distance, f1Distance, f2Distance, f3Distance, f4Distance = 0; // changed from int to long type 10.5.18
204 | int f0ToolChange, f1ToolChange, f2ToolChange, f3ToolChange, f4ToolChange = 0;
205 |
206 | unsigned long time0, time1, time2, time3, time4, time5;
207 | unsigned long timeCStart, timeCEnd;
208 |
209 |
210 | void Application::setup() {
211 | // static int findaStatus;
212 |
213 | int waitCount;
214 |
215 |
216 | Serial.begin(500000); // startup the local serial interface (changed to 2 Mbaud on 10.7.18
217 | while (!Serial) {
218 | ; // wait for serial port to connect. needed for native USB port only
219 | Serial.println(F("waiting for serial port"));
220 | }
221 |
222 | Serial.println(MMU2_VERSION);
223 |
224 | //!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
225 | // THIS DELAY IS CRITICAL DURING POWER UP/RESET TO PROPERLY SYNC WITH THE MK3 CONTROLLER BOARD
226 | //!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
227 | delay(4000); // this is key to syncing to the MK3 controller - currently 4 seconds
228 |
229 |
230 |
231 |
232 | Serial1.begin(115200); // startup the mk3 serial
233 | // Serial1.begin(115200; // ATMEGA hardware serial interface
234 |
235 | //Serial.println(F("started the mk3 serial interface"));
236 | delay(100);
237 |
238 |
239 | Serial.println(F("Sending START command to mk3 controller board"));
240 | // !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
241 | // THIS NEXT COMMAND IS CRITICAL ... IT TELLS THE MK3 controller that an MMU is present
242 | // !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
243 | Serial1.print(F("start\n")); // attempt to tell the mk3 that the mmu is present
244 |
245 | //!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
246 | // check the serial interface to see if it is active
247 | //!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
248 | waitCount = 0;
249 | while (!Serial1.available()) {
250 |
251 | //delay(100);
252 | Serial.println(F("Waiting for message from mk3"));
253 | delay(1000);
254 | ++waitCount;
255 | if (waitCount >= 7) {
256 | Serial.println(F("7 seconds have passed, aborting wait for mk3 to respond"));
257 | goto continue_processing;
258 | }
259 | }
260 | Serial.println(F("inbound message from mk3"));
261 |
262 | continue_processing:
263 |
264 |
265 |
266 | pinMode(idlerDirPin, OUTPUT);
267 | pinMode(idlerStepPin, OUTPUT);
268 |
269 | pinMode(findaPin, INPUT); // pinda Filament sensor
270 | pinMode(filamentSwitch, INPUT);
271 |
272 | pinMode(idlerEnablePin, OUTPUT);
273 | // pinMode(bearingRstPin, OUTPUT);
274 |
275 | pinMode(extruderEnablePin, OUTPUT);
276 | pinMode(extruderDirPin, OUTPUT);
277 | pinMode(extruderStepPin, OUTPUT);
278 |
279 | pinMode(colorSelectorEnablePin, OUTPUT);
280 | pinMode(colorSelectorDirPin, OUTPUT);
281 | pinMode(colorSelectorStepPin, OUTPUT);
282 |
283 | pinMode(greenLED, OUTPUT); // green LED used for debug purposes
284 |
285 | Serial.println(F("finished setting up input and output pins"));
286 |
287 |
288 |
289 | // Turn on all three stepper motors
290 | digitalWrite(idlerEnablePin, ENABLE); // enable the roller bearing motor (motor #1)
291 | digitalWrite(extruderEnablePin, ENABLE); // enable the extruder motor (motor #2)
292 | digitalWrite(colorSelectorEnablePin, ENABLE); // enable the color selector motor (motor #3)
293 |
294 |
295 |
296 |
297 |
298 | // moved these inits to the loop() section since the mk3 serial interface needs to be handled
299 | //
300 |
301 | #ifdef NOTDEF
302 | if (isFilamentLoaded()) { // check to see if filament in the bowden tube (between the mmu2 and mk3
303 | Serial.println(F("Filament was in the bowden tube at startup, unloading filament automatically"));
304 | unloadFilamentToFinda(); //
305 | }
306 | #endif
307 |
308 | Serial.println(F("Syncing the Idler Selector Assembly")); // do this before moving the selector motor
309 | initIdlerPosition(); // reset the roller bearing position
310 |
311 |
312 | Serial.println(F("Syncing the Filament Selector Assembly"));
313 | if (!isFilamentLoaded()) {
314 | initColorSelector(); // reset the color selector if there is NO filament present
315 | } else {
316 | Serial.println(F("Unable to clear the Color Selector, please remove filament"));
317 | }
318 |
319 | Serial.println(F("Inialialization Complete, let's multicolor print ...."));
320 |
321 |
322 |
323 | } // end of init() routine
324 |
325 |
326 | // infinite loop - core of the program
327 |
328 | void Application::loop() {
329 | int i;
330 | char rcvChar;
331 | int pindaStatus;
332 | char c1, c2, c3;
333 | String kbString;
334 | int fstatus;
335 |
336 |
337 | // Serial.println(F("looping"));
338 | delay(100); // wait for 100 milliseconds
339 | checkSerialInterface(); // check the serial interface for input commands from the mk3
340 | #ifdef NOTDEF
341 | while (1) {
342 | fstatus = digitalRead(filamentSwitch);
343 | Serial.print(F("Filament Status: "));
344 | Serial.println(fstatus);
345 | delay(1000);
346 | }
347 | #endif
348 |
349 | // Serial.println(F("Enter Filament Selection (1-5),Disengage Roller (D), Load Filament (L), Unload Filament (U), Test Color Extruder(T)"));
350 | //Serial.print(F("FINDA status: "));
351 | //fstatus = digitalRead(findaPin);
352 | //Serial.println(fstatus);
353 |
354 |
355 | // check for keyboard input
356 |
357 | if (Serial.available()) {
358 | Serial.print(F("Key was hit "));
359 | //c1 = Serial.read();
360 | //c2 = Serial.read();
361 | //c3 = Serial.read();
362 |
363 | kbString = Serial.readString();
364 | // Serial.print(c1); Serial.print(F(" ")); Serial.println(F("c2"));
365 | Serial.print(kbString);
366 |
367 | if (kbString[0] == 'C') {
368 | //if (c1 == 'C') {
369 | Serial.println(F("Processing 'C' Command"));
370 | filamentLoadWithBondTechGear();
371 |
372 | //filamentLoadToMK3();
373 | }
374 | if (kbString[0] == 'T') {
375 | //if (c1 == 'T') {
376 | Serial.println(F("Processing 'T' Command"));
377 | toolChange(kbString[1]); // invoke the tool change command
378 | //toolChange(c2);
379 | // processKeyboardInput();
380 | }
381 | if (kbString[0] == 'U') {
382 | Serial.println(F("Processing 'U' Command"));
383 |
384 | // parkIdler(); // reset the idler // added on 10.7.18 ... get in known state
385 |
386 |
387 | if (idlerStatus == QUICKPARKED) {
388 | quickUnParkIdler(); // un-park the idler from a quick park
389 | }
390 | if (idlerStatus == INACTIVE) {
391 | unParkIdler(); // turn on the idler motor
392 | }
393 | unloadFilamentToFinda(); //unload the filament
394 |
395 | parkIdler(); // park the idler motor and turn it off
396 | }
397 | }
398 |
399 |
400 |
401 | } // end of infinite loop
402 |
403 |
404 |
405 | // need to check the PINDA status
406 |
407 | void checkSerialInterface() {
408 | unsigned char c1, c2, c3;
409 | int i;
410 | int cnt;
411 | char c;
412 | String inputLine;
413 | int counter = 0;
414 | int findaStatus;
415 | int index;
416 | long steps;
417 |
418 |
419 | // Serial.println(F("Waiting for communication with mk3"));
420 |
421 | // while (earlyCommands == 0) {
422 | // Serial.println(F("waiting for response from mk3"));
423 | index = 0;
424 | if ((cnt = Serial1.available()) > 0) {
425 |
426 | //Serial.print(F("chars received: "));
427 | //Serial.println(cnt);
428 |
429 | inputLine = Serial1.readString(); // fetch the command from the mmu2 serial input interface
430 |
431 | if (inputLine[0] != 'P') {
432 | Serial.print(F("MMU Command: "));
433 | Serial.println(inputLine);
434 | }
435 | process_more_commands: // parse the inbound command
436 | c1 = inputLine[index++]; // fetch single characer from the input line
437 | c2 = inputLine[index++]; // fetch 2nd character from the input line
438 | c3 = inputLine[index++]; // carriage return
439 |
440 |
441 | // process commands coming from the mk3 controller
442 | //***********************************************************************************
443 | // Commands still to be implemented: X0 (MMU Reset), F0 (Filament type select),
444 | // E0->E4 (Eject Filament), R0 (recover from eject)
445 | //***********************************************************************************
446 | switch (c1) {
447 | case 'T':
448 | // request for idler and selector based on filament number
449 | time4 = millis(); // grab the current time
450 |
451 | if ((c2 >= '0') && (c2 <= '4')) {
452 | toolChange(c2);
453 |
454 | } else {
455 | Serial.println(F("T: Invalid filament Selection"));
456 | }
457 |
458 | // delay(200); //removed this 200msec delay on 10.5.18
459 | Serial1.print(F("ok\n")); // send command acknowledge back to mk3 controller
460 | time5 = millis(); // grab the current time
461 | break;
462 | case 'C':
463 | // move filament from selector ALL the way to printhead
464 | #ifdef NOTDEF
465 | Serial.println(F("C: Moving filament to Bondtech gears"));
466 | #endif
467 | // filamentLoadToMK3();
468 | filamentLoadWithBondTechGear();
469 | // delay(200);
470 | Serial1.print(F("ok\n"));
471 | break;
472 |
473 | case 'U':
474 | // request for filament unload
475 |
476 | Serial.println(F("U: Filament Unload Selected"));
477 | //*******************************************************************************************************
478 | //* FIX: don't go all the way to the end ... be smarter
479 | //******************************************************************************************************
480 | //* unparking is more elegant 10.12.18
481 | if (idlerStatus == QUICKPARKED) {
482 | quickUnParkIdler(); // un-park the idler from a quick park
483 | }
484 | if (idlerStatus == INACTIVE) {
485 | unParkIdler(); // turn on the idler motor
486 | }
487 |
488 | if ((c2 >= '0') && (c2 <= '4')) {
489 |
490 | unloadFilamentToFinda();
491 | parkIdler();
492 | Serial.println(F("U: Sending Filament Unload Acknowledge to MK3"));
493 | delay(200);
494 | Serial1.print(F("ok\n"));
495 |
496 | } else {
497 | Serial.println(F("U: Invalid filament Unload Requested"));
498 | delay(200);
499 | Serial1.print(F("ok\n"));
500 | }
501 | break;
502 | case 'L':
503 | // request for filament load
504 | Serial.println(F("L: Filament Load Selected"));
505 | if (idlerStatus == QUICKPARKED) {
506 | quickUnParkIdler(); // un-park the idler from a quick park
507 | }
508 | if (idlerStatus == INACTIVE) {
509 | unParkIdler(); // turn on the idler motor
510 | }
511 |
512 |
513 | if (colorSelectorStatus == INACTIVE)
514 | activateColorSelector(); // turn on the color selector motor
515 |
516 | if ((c2 >= '0') && (c2 <= '4')) {
517 |
518 | Serial.println(F("L: Moving the bearing idler"));
519 | idlerSelector(c2); // move the filament selector stepper motor to the right spot
520 | Serial.println(F("L: Moving the color selector"));
521 | colorSelector(c2); // move the color Selector stepper Motor to the right spot
522 | Serial.println(F("L: Loading the Filament"));
523 | // loadFilament(CCW);
524 | loadFilamentToFinda();
525 | parkIdler(); // turn off the idler roller
526 |
527 | Serial.println(F("L: Sending Filament Load Acknowledge to MK3"));
528 |
529 | delay(200);
530 |
531 | Serial1.print(F("ok\n"));
532 |
533 |
534 |
535 | } else {
536 | Serial.println(F("Error: Invalid Filament Number Selected"));
537 | }
538 | break;
539 |
540 | case 'S':
541 | // request for firmware version
542 | // Serial.println(F("S Command received from MK3"));
543 | // this is a serious hack since the serial interface is flaky at this point in time
544 | #ifdef NOTDEF
545 | if (command == 1) {
546 | Serial.println(F("S: Processing S2"));
547 | Serial1.print(FW_BUILDNR);
548 | Serial1.print(F("ok\n"));
549 |
550 | command++;
551 |
552 | }
553 | if (command == 0) {
554 | Serial.println(F("S: Processing S1"));
555 | Serial1.print(FW_VERSION);
556 | Serial1.print(F("ok\n"));
557 |
558 | command++;
559 | }
560 | #endif
561 |
562 | switch (c2) {
563 | case '0':
564 | Serial.println(F("S: Sending back OK to MK3"));
565 | Serial1.print(F("ok\n"));
566 | break;
567 | case '1':
568 | Serial.println(F("S: FW Version Request"));
569 | Serial1.print(FW_VERSION);
570 | Serial1.print(F("ok\n"));
571 | break;
572 | case '2':
573 | Serial.println(F("S: Build Number Request"));
574 | Serial.println(F("Initial Communication with MK3 Controller: Successful"));
575 | Serial1.print(FW_BUILDNR);
576 | Serial1.print(F("ok\n"));
577 | break;
578 | default:
579 | Serial.println(F("S: Unable to process S Command"));
580 | break;
581 | } // switch(c2) check
582 | break;
583 | case 'P':
584 |
585 | // check FINDA status
586 | // Serial.println(F("Check FINDA Status Request"));
587 | findaStatus = digitalRead(findaPin);
588 | if (findaStatus == 0) {
589 | // Serial.println(F("P: FINDA INACTIVE"));
590 | Serial1.print(F("0"));
591 | }
592 | else {
593 | // Serial.println(F("P: FINDA ACTIVE"));
594 | Serial1.print(F("1"));
595 | }
596 | Serial1.print(F("ok\n"));
597 |
598 | break;
599 | case 'F': // 'F' command is acknowledged but no processing goes on at the moment
600 | // will be useful for flexible material down the road
601 | Serial.println(F("Filament Type Selected: "));
602 | Serial.println(c2);
603 | Serial1.print(F("ok\n")); // send back OK to the mk3
604 | break;
605 | default:
606 | Serial.print(F("ERROR: unrecognized command from the MK3 controller"));
607 | Serial1.print(F("ok\n"));
608 |
609 |
610 | } // end of switch statement
611 | #ifdef NOTDEF
612 | if (cnt != 3) {
613 |
614 | Serial.print(F("Index: "));
615 | Serial.print(index);
616 | Serial.print(F(" cnt: "));
617 | Serial.println(cnt);
618 | }
619 | #endif
620 | } // end of cnt > 0 check
621 |
622 | if (index < cnt) {
623 | #ifdef NOTDEF
624 | Serial.println(F("More commands in the buffer"));
625 | #endif
626 |
627 | goto process_more_commands;
628 | }
629 | // } // check for early commands
630 |
631 | }
632 |
633 |
634 | void colorSelector(char selection) {
635 |
636 | int findaStatus;
637 |
638 | // this error check was added on 10.4.18
639 |
640 | if ((selection < '0') || (selection > '4')) {
641 | Serial.println(F("colorSelector(): Error, invalid filament selection"));
642 | return;
643 | }
644 |
645 | // Serial.println(F("Entering colorSelector() routine"));
646 |
647 | loop:
648 | findaStatus = digitalRead(findaPin); // check the pinda status ( DO NOT MOVE THE COLOR SELECTOR if filament is present)
649 | if (findaStatus == 1) {
650 | fixTheProblem("colorSelector(): Error, filament is present between the MMU2 and the MK3 Extruder: UNLOAD FILAMENT!!!");
651 | goto loop;
652 | }
653 |
654 |
655 |
656 | switch (selection) {
657 | case '0': // position '0' is always just a move to the left
658 | // added the '+10' on 10.5.18 (force selector carriage all the way to the left
659 | csTurnAmount(currentPosition + 10, CCW); // the '+10' is an attempt to move the selector ALL the way left (puts the selector into known position)
660 | currentPosition = selectorAbsPos[0];
661 | break;
662 | case '1':
663 | if (currentPosition <= selectorAbsPos[1]) {
664 | csTurnAmount((selectorAbsPos[1] - currentPosition), CW);
665 | } else {
666 | csTurnAmount((currentPosition - selectorAbsPos[1]), CCW);
667 | }
668 | currentPosition = selectorAbsPos[1];
669 | break;
670 | case '2':
671 | if (currentPosition <= selectorAbsPos[2]) {
672 | csTurnAmount((selectorAbsPos[2] - currentPosition), CW);
673 | } else {
674 | csTurnAmount((currentPosition - selectorAbsPos[2]), CCW);
675 |
676 | }
677 | currentPosition = selectorAbsPos[2];
678 | break;
679 | case '3':
680 | if (currentPosition <= selectorAbsPos[3]) {
681 | csTurnAmount((selectorAbsPos[3] - currentPosition), CW);
682 | } else {
683 | csTurnAmount((currentPosition - selectorAbsPos[3]), CCW);
684 |
685 | }
686 | currentPosition = selectorAbsPos[3];
687 | break;
688 | case '4':
689 | if (currentPosition <= selectorAbsPos[4]) {
690 | csTurnAmount((selectorAbsPos[4] - currentPosition), CW);
691 | } else {
692 | csTurnAmount((currentPosition - selectorAbsPos[4]), CCW);
693 |
694 | }
695 | currentPosition = selectorAbsPos[4];
696 | break;
697 |
698 | }
699 |
700 |
701 |
702 | } // end of colorSelector routine()
703 |
704 | //****************************************************************************************************
705 | //* this routine is the common routine called for fixing the filament issues (loading or unloading)
706 | //****************************************************************************************************
707 | void fixTheProblem(String statement) {
708 | Serial.println(F(""));
709 | Serial.println(F("********************* ERROR ************************"));
710 | Serial.println(statement); // report the error to the user
711 | Serial.println(F("********************* ERROR ************************"));
712 | Serial.println(F("Clear the problem and then hit any key to continue "));
713 | Serial.println(F(""));
714 |
715 | parkIdler(); // park the idler stepper motor
716 | digitalWrite(colorSelectorEnablePin, DISABLE); // turn off the selector stepper motor
717 |
718 | //quickParkIdler(); // move the idler out of the way
719 | // specialParkIdler();
720 |
721 | while (!Serial.available()) {
722 | // wait until key is entered to proceed (this is to allow for operator intervention)
723 | }
724 | Serial.readString(); // clear the keyboard buffer
725 |
726 | unParkIdler(); // put the idler stepper motor back to its' original position
727 | digitalWrite(colorSelectorEnablePin, ENABLE); // turn ON the selector stepper motor
728 | delay(1); // wait for 1 millisecond
729 |
730 | //specialUnParkIdler();
731 | //unParkIdler();
732 | //quickUnParkIdler(); // re-enage the idler
733 | }
734 |
735 |
736 | // this is the selector motor with the lead screw (final stage of the MMU2 unit)
737 |
738 | void csTurnAmount(int steps, int direction) {
739 | int i;
740 | int scount;
741 |
742 | digitalWrite(colorSelectorEnablePin, ENABLE ); // turn on the color selector motor
743 | // delayMicroseconds(1500); // wait for 1.5 milliseconds added on 10.4.18
744 |
745 | if (direction == CW)
746 | digitalWrite(colorSelectorDirPin, LOW); // set the direction for the Color Extruder Stepper Motor
747 | else
748 | digitalWrite(colorSelectorDirPin, HIGH);
749 | // wait 1 milliseconds
750 | delayMicroseconds(1500); // changed from 500 to 1000 microseconds on 10.6.18, changed to 1500 on 10.7.18)
751 |
752 | #ifdef DEBUG
753 | Serial.print(F("raw steps: "));
754 | Serial.println(steps);
755 |
756 | scount = steps * STEPSIZE;
757 | Serial.print(F("total number of steps: "));
758 | Serial.println(scount);
759 | #endif
760 |
761 | for (i = 0; i <= (steps * STEPSIZE); i++) { // fixed this to '<=' from '<' on 10.5.18
762 | digitalWrite(colorSelectorStepPin, HIGH);
763 | delayMicroseconds(PINHIGH); // delay for 10 useconds
764 | digitalWrite(colorSelectorStepPin, LOW);
765 | delayMicroseconds(PINLOW); // delay for 10 useconds (added back in on 10.8.2018)
766 | delayMicroseconds(COLORSELECTORMOTORDELAY); // wait for 400 useconds
767 |
768 | }
769 |
770 | #ifdef TURNOFFSELECTORMOTOR // added on 10.14.18
771 | digitalWrite(colorSelectorEnablePin, DISABLE); // turn off the color selector motor
772 | #endif
773 |
774 | }
775 |
776 |
777 |
778 |
779 |
780 | // test code snippet for moving a stepper motor
781 | // (not used operationally)
782 | void completeRevolution() {
783 | int i, delayValue;
784 |
785 | for (i = 0; i < STEPSPERREVOLUTION * STEPSIZE; i++) {
786 | digitalWrite(idlerStepPin, HIGH);
787 | delayMicroseconds(PINHIGH); // delay for 10 useconds
788 | digitalWrite(idlerStepPin, LOW);
789 | delayMicroseconds(PINLOW); // delay for 10 useconds
790 |
791 | delayMicroseconds(IDLERMOTORDELAY);
792 | //delayValue = 64/stepSize;
793 | //delay(delayValue); // wait for 30 milliseconds
794 |
795 | }
796 | }
797 |
798 | //
799 | // turn the idler stepper motor
800 | //
801 | void idlerturnamount(int steps, int dir) {
802 | int i;
803 | int delayValue;
804 |
805 |
806 |
807 | #ifdef NOTDEF
808 | Serial.println(F("moving the idler ..."));
809 | Serial.print(F("steps: "));
810 | Serial.print(steps);
811 | Serial.print(F("dir: "));
812 | Serial.println(dir);
813 | #endif
814 |
815 | digitalWrite(idlerEnablePin, ENABLE); // turn on motor
816 | digitalWrite(idlerDirPin, dir);
817 | delay(1); // wait for 1 millisecond
818 |
819 | // digitalWrite(ledPin, HIGH);
820 |
821 | //digitalWrite(idlerDirPin, dir);
822 | //delay(1); // wait for 1 millsecond
823 |
824 | // these command actually move the IDLER stepper motor
825 | //
826 | for (i = 0; i < steps * STEPSIZE; i++) {
827 | digitalWrite(idlerStepPin, HIGH);
828 | delayMicroseconds(PINHIGH); // delay for 10 useconds
829 | digitalWrite(idlerStepPin, LOW);
830 | //delayMicroseconds(PINLOW); // delay for 10 useconds (removed on 10.7.18
831 |
832 | delayMicroseconds(IDLERMOTORDELAY);
833 |
834 | }
835 | #ifdef NOTDEF
836 | Serial.println(F("finished moving the idler ..."));
837 | #endif
838 |
839 | } // end of idlerturnamount() routine
840 |
841 |
842 | // turns on the extruder motor
843 | void loadFilamentToFinda() {
844 | int i;
845 | int findaStatus;
846 | unsigned int steps;
847 | unsigned long startTime, currentTime;
848 |
849 | digitalWrite(extruderEnablePin, ENABLE); // added on 10.14.18
850 | digitalWrite(extruderDirPin, CCW); // set the direction of the MMU2 extruder motor
851 | delay(1);
852 |
853 | startTime = millis();
854 |
855 | loop:
856 | currentTime = millis();
857 | if ((currentTime - startTime) > 10000) { // 10 seconds worth of trying to unload the filament
858 | fixTheProblem("UNLOAD FILAMENT ERROR: timeout error, filament is not unloading past the FINDA sensor");
859 | startTime = millis(); // reset the start time clock
860 | }
861 | // changed this on 10.12.18 to step 1 mm instead of a single step at a time
862 |
863 | // feedFilament(1); // 1 step and then check the pinda status
864 | feedFilament(STEPSPERMM); // go 144 steps (1 mm) and then check the finda status
865 |
866 | findaStatus = digitalRead(findaPin);
867 | if (findaStatus == 0) // keep feeding the filament until the pinda sensor triggers
868 | goto loop;
869 |
870 | #ifdef NOTDEF
871 | Serial.println(F("Pinda Sensor Triggered during Filament Load"));
872 | #endif
873 | //
874 | // for a filament load ... need to get the filament out of the selector head !!!
875 | //
876 | digitalWrite(extruderDirPin, CW); // back the filament away from the selector
877 |
878 | #ifdef NOTDEF
879 | steps = 200 * STEPSIZE + 50;
880 | feedFilament(steps);
881 | #endif
882 |
883 | feedFilament(STEPSPERMM * 23); // after hitting the FINDA sensor, back away by 23 mm
884 | #ifdef NOTDEF
885 | Serial.println(F("Loading Filament Complete ..."));
886 | #endif
887 |
888 | // digitalWrite(ledPin, LOW); // turn off LED
889 | }
890 |
891 | //*********************************************************************************************
892 | // unload Filament using the FINDA sensor
893 | // turns on the extruder motor
894 | //*********************************************************************************************
895 | void unloadFilamentToFinda() {
896 | int i;
897 | int findaStatus;
898 | unsigned int steps;
899 | unsigned long startTime, currentTime, startTime1;
900 | int fStatus;
901 |
902 | if (!isFilamentLoaded()) { // if the filament is already unloaded, do nothing
903 |
904 | Serial.println(F("unloadFilamentToFinda(): filament already unloaded"));
905 | return;
906 | }
907 |
908 | digitalWrite(extruderEnablePin, ENABLE); // turn on the extruder motor
909 | digitalWrite(extruderDirPin, CW); // set the direction of the MMU2 extruder motor
910 | delay(1);
911 |
912 | startTime = millis();
913 | startTime1 = millis();
914 |
915 | loop:
916 |
917 | currentTime = millis();
918 |
919 | //************************************************************************************************************
920 | //* added filament sensor status check (10.14.18)
921 | //************************************************************************************************************
922 |
923 | fStatus = digitalRead(filamentSwitch); // read the filament switch (on the top of the mk3 extruder)
924 |
925 | if (fStatus == 0) { // filament Switch is still ON, check for timeout condition
926 |
927 | if ((currentTime - startTime1) > 2000) { // has 2 seconds gone by ?
928 | fixTheProblem("UNLOAD FILAMENT ERROR: filament not unloading properly, stuck in mk3 head");
929 | startTime1 = millis();
930 | }
931 | } else { // check for timeout waiting for FINDA sensor to trigger
932 |
933 | if ((currentTime - startTime) > 10000) { // 10 seconds worth of trying to unload the filament
934 |
935 | fixTheProblem("UNLOAD FILAMENT ERROR: filament is not unloading properly, stuck between mk3 and mmu2");
936 | startTime = millis(); // reset the start time
937 | }
938 | }
939 | feedFilament(STEPSPERMM); // 1mm and then check the pinda status
940 |
941 |
942 |
943 |
944 | if (isFilamentLoaded()) { // keep unloading until we hit the FINDA sensor
945 | goto loop;
946 | }
947 |
948 | // findaStatus = digitalRead(findaPin);
949 |
950 | // if (findaStatus == 1) // keep feeding the filament until the pinda sensor triggers
951 |
952 | // goto loop;
953 |
954 | #ifdef NOTDEF
955 | Serial.println(F("unloadFilamenttoFinda(): Pinda Sensor Triggered during Filament unload"));
956 | #endif
957 | //
958 | // for a filament unload ... need to get the filament out of the selector head !!!
959 | //
960 | digitalWrite(extruderDirPin, CW); // back the filament away from the selector
961 |
962 | //steps = 200 * STEPSIZE + 50;
963 | //feedFilament(steps);
964 |
965 | feedFilament(STEPSPERMM * 23); // back the filament away from the selector by 23mm
966 |
967 | #ifdef NOTDEF
968 | Serial.println(F("unloadFilamentToFinda(): Unloading Filament Complete ..."));
969 | #endif
970 |
971 | // digitalWrite(ledPin, LOW); // turn off LED
972 | }
973 |
974 |
975 | void loadFilament(int direction) {
976 | int i;
977 | int findaStatus;
978 | unsigned int steps;
979 |
980 |
981 | // digitalWrite(ledPin, HIGH); // turn on LED to indicate extruder motor is running
982 | digitalWrite(extruderDirPin, direction); // set the direction of the MMU2 extruder motor
983 |
984 |
985 | switch (direction) {
986 | case CCW: // load filament
987 | loop:
988 | feedFilament(1); // 1 step and then check the pinda status
989 |
990 | findaStatus = digitalRead(findaPin);
991 | if (findaStatus == 0) // keep feeding the filament until the pinda sensor triggers
992 | goto loop;
993 | Serial.println(F("Pinda Sensor Triggered"));
994 | // now feed the filament ALL the way to the printer extruder assembly
995 |
996 | steps = 17 * 200 * STEPSIZE;
997 |
998 | Serial.print(F("steps: "));
999 | Serial.println(steps);
1000 | feedFilament(steps); // 17 complete revolutions
1001 | Serial.println(F("Loading Filament Complete ..."));
1002 | break;
1003 |
1004 | case CW: // unload filament
1005 | loop1:
1006 | feedFilament(STEPSPERMM); // 1 mm and then check the pinda status
1007 | findaStatus = digitalRead(findaPin);
1008 | if (findaStatus == 1) // wait for the filament to unload past the pinda sensor
1009 | goto loop1;
1010 | Serial.println(F("Pinda Sensor Triggered, unloading filament complete"));
1011 |
1012 | feedFilament(STEPSPERMM * 23); // move 23mm so we are out of the way of the selector
1013 |
1014 |
1015 | break;
1016 | default:
1017 | Serial.println(F("loadFilament: I shouldn't be here !!!!"));
1018 |
1019 |
1020 | }
1021 |
1022 |
1023 | }
1024 |
1025 | //
1026 | // this routine feeds filament by the amount of steps provided
1027 | // 144 steps = 1mm of filament (using the current mk8 gears in the MMU2)
1028 | //
1029 | void feedFilament(unsigned int steps) {
1030 |
1031 | int i;
1032 |
1033 | #ifdef NOTDEF
1034 | if (steps > 1) {
1035 | Serial.print(F("Steps: "));
1036 | Serial.println(steps);
1037 | }
1038 | #endif
1039 |
1040 | for (i = 0; i <= steps; i++) {
1041 | digitalWrite(extruderStepPin, HIGH);
1042 | delayMicroseconds(PINHIGH); // delay for 10 useconds
1043 | digitalWrite(extruderStepPin, LOW);
1044 | delayMicroseconds(PINLOW); // delay for 10 useconds
1045 |
1046 | delayMicroseconds(EXTRUDERMOTORDELAY); // wait for 400 useconds
1047 | //delay(delayValue); // wait for 30 milliseconds
1048 |
1049 | }
1050 | }
1051 |
1052 |
1053 | void recoverfilamentSelector() {
1054 |
1055 | }
1056 |
1057 | // this routine drives the 5 position bearings (aka idler) on the top of the MMU2 carriage
1058 | //
1059 | void idlerSelector(char filament) {
1060 | int steps;
1061 | int newBearingPosition;
1062 | int newSetting;
1063 |
1064 | #ifdef DEBUG
1065 | Serial.print(F("idlerSelector(): Filament Selected: "));
1066 | Serial.println(filament);
1067 | #endif
1068 |
1069 | //* added on 10.14.18 (need to turn the extruder stepper motor back on since it is turned off by parkidler()
1070 | digitalWrite(extruderEnablePin, ENABLE);
1071 |
1072 |
1073 | if ((filament < '0') || (filament > '4')) {
1074 | Serial.println(F("idlerSelector() ERROR, invalid filament selection"));
1075 | Serial.print(F("idlerSelector() filament: "));
1076 | Serial.println(filament);
1077 | return;
1078 | }
1079 | // move the selector back to it's origin state
1080 |
1081 | #ifdef DEBUG
1082 | Serial.print(F("Old Idler Roller Bearing Position:"));
1083 | Serial.println(oldBearingPosition);
1084 | Serial.println(F("Moving filament selector"));
1085 | #endif
1086 |
1087 | switch (filament) {
1088 | case '0':
1089 | newBearingPosition = bearingAbsPos[0]; // idler set to 1st position
1090 | filamentSelection = 0;
1091 | currentExtruder = '0';
1092 | break;
1093 | case '1':
1094 | newBearingPosition = bearingAbsPos[1];
1095 | filamentSelection = 1;
1096 | currentExtruder = '1';
1097 | break;
1098 | case '2':
1099 | newBearingPosition = bearingAbsPos[2];
1100 | filamentSelection = 2;
1101 | currentExtruder = '2';
1102 | break;
1103 | case '3':
1104 | newBearingPosition = bearingAbsPos[3];
1105 | filamentSelection = 3;
1106 | currentExtruder = '3';
1107 | break;
1108 | case '4':
1109 | newBearingPosition = bearingAbsPos[4];
1110 | filamentSelection = 4;
1111 | currentExtruder = '4';
1112 | break;
1113 | default:
1114 | Serial.println(F("idlerSelector(): ERROR, Invalid Idler Bearing Position"));
1115 | break;
1116 | }
1117 |
1118 | // turnAmount(newFilamentPosition,CCW); // new method
1119 |
1120 |
1121 | newSetting = newBearingPosition - oldBearingPosition;
1122 |
1123 | #ifdef NOTDEF
1124 | Serial.print(F("Old Bearing Position: "));
1125 | Serial.println(oldBearingPosition);
1126 | Serial.print(F("New Bearing Position: "));
1127 | Serial.println(newBearingPosition);
1128 |
1129 | Serial.print(F("New Setting: "));
1130 | Serial.println(newSetting);
1131 | #endif
1132 |
1133 | if (newSetting < 0) {
1134 | idlerturnamount(-newSetting, CW); // turn idler to appropriate position
1135 | } else {
1136 | idlerturnamount(newSetting, CCW); // turn idler to appropriate position
1137 | }
1138 |
1139 | oldBearingPosition = newBearingPosition;
1140 |
1141 | }
1142 |
1143 |
1144 | // perform this function only at power up/reset
1145 | //
1146 | void initIdlerPosition() {
1147 |
1148 | #ifdef NOTDEF
1149 | Serial.println(F("initIdlerPosition(): resetting the Idler Roller Bearing position"));
1150 | #endif
1151 |
1152 | digitalWrite(idlerEnablePin, ENABLE); // turn on the roller bearing motor
1153 | delay(1);
1154 | oldBearingPosition = 125; // points to position #1
1155 | idlerturnamount(MAXROLLERTRAVEL, CW);
1156 | idlerturnamount(MAXROLLERTRAVEL, CCW); // move the bearings out of the way
1157 | digitalWrite(idlerEnablePin, DISABLE); // turn off the idler roller bearing motor
1158 |
1159 | filamentSelection = 0; // keep track of filament selection (0,1,2,3,4))
1160 | currentExtruder = '0';
1161 |
1162 |
1163 | }
1164 |
1165 | // perform this function only at power up/reset
1166 | //
1167 | void initColorSelector() {
1168 |
1169 | #ifdef NOTDEF
1170 | Serial.println(F("Syncing the Color Selector Assembly"));
1171 | #endif
1172 | digitalWrite(colorSelectorEnablePin, ENABLE); // turn on the stepper motor
1173 | delay(1); // wait for 1 millisecond
1174 |
1175 | csTurnAmount(MAXSELECTOR_STEPS, CW); // move to the right
1176 | csTurnAmount(MAXSELECTOR_STEPS+20, CCW); // move all the way to the left
1177 |
1178 | digitalWrite(colorSelectorEnablePin, DISABLE); // turn off the stepper motor
1179 |
1180 | }
1181 |
1182 |
1183 | // this function is performed by the 'T' command after so many moves to make sure the colorselector is synchronized
1184 | //
1185 | void syncColorSelector() {
1186 | int moveSteps;
1187 |
1188 | digitalWrite(colorSelectorEnablePin, ENABLE); // turn on the selector stepper motor
1189 | delay(1); // wait for 1 millecond
1190 |
1191 | Serial.print(F("syncColorSelelector() current Filament selection: "));
1192 | Serial.println(filamentSelection);
1193 | moveSteps = MAXSELECTOR_STEPS - selectorAbsPos[filamentSelection];
1194 |
1195 | Serial.print(F("syncColorSelector() moveSteps: "));
1196 | Serial.println(moveSteps);
1197 |
1198 | csTurnAmount(moveSteps, CW); // move all the way to the right
1199 | csTurnAmount(MAXSELECTOR_STEPS+20, CCW); // move all the way to the left
1200 |
1201 | #ifdef TURNOFFSELECTORMOTOR // added on 10.14.18
1202 | digitalWrite(colorSelectorEnablePin, DISABLE); // turn off the selector stepper motor
1203 | #endif
1204 | }
1205 |
1206 |
1207 | // this just energizes the roller bearing extruder motor
1208 | //
1209 | void activateRollers() {
1210 |
1211 | digitalWrite(idlerEnablePin, ENABLE); // turn on the roller bearing stepper motor
1212 |
1213 | // turnAmount(120, CW); // move the rollers to filament position #1
1214 | // oldBearingPosition = 45; // filament position #1
1215 |
1216 | // oldBearingPosition = MAXROLLERTRAVEL; // not sure about this CSK
1217 |
1218 | idlerStatus = ACTIVE;
1219 | }
1220 |
1221 | // move the filament Roller pulleys away from the filament
1222 |
1223 | void parkIdler() {
1224 | int newSetting;
1225 |
1226 | digitalWrite(idlerEnablePin, ENABLE);
1227 | delay(1);
1228 |
1229 | // commented out on 10.13.18
1230 | //oldBearingPosition = bearingAbsPos[filamentSelection]; // fetch the bearing position based on the filament state
1231 |
1232 | #ifdef DEBUGIDLER
1233 | Serial.print(F("parkIdler() oldBearingPosition: "));
1234 | Serial.print(oldBearingPosition);
1235 | #endif
1236 | #ifdef DEBUG
1237 | Serial.print(F(" filamentSelection: "));
1238 | Serial.println(filamentSelection);
1239 | #endif
1240 |
1241 | newSetting = MAXROLLERTRAVEL - oldBearingPosition;
1242 |
1243 | #ifdef DEBUG
1244 | Serial.print(F("parkIdler() DeactiveRoller newSetting: "));
1245 | Serial.println(newSetting);
1246 | #endif
1247 |
1248 | idlerturnamount(newSetting, CCW); // move the bearing roller out of the way
1249 | oldBearingPosition = MAXROLLERTRAVEL; // record the current roller status (CSK)
1250 |
1251 | idlerStatus = INACTIVE;
1252 | digitalWrite(idlerEnablePin, DISABLE); // turn off the roller bearing stepper motor (nice to do, cuts down on CURRENT utilization)
1253 | // added on 10.14.18
1254 | digitalWrite(extruderEnablePin, DISABLE); // turn off the extruder stepper motor as well
1255 |
1256 | }
1257 |
1258 |
1259 | // turn on the idler bearing rollers
1260 |
1261 | void unParkIdler() {
1262 | int rollerSetting;
1263 |
1264 | digitalWrite(idlerEnablePin, ENABLE); // turn on (enable) the roller bearing motor
1265 | // added on 10.14.18
1266 | digitalWrite(extruderEnablePin, ENABLE); // turn on (enable) the extruder stepper motor as well
1267 |
1268 | delay(1); // wait for 10 useconds
1269 |
1270 | //Serial.println(F("Activating the Idler Rollers"));
1271 |
1272 | rollerSetting = MAXROLLERTRAVEL - bearingAbsPos[filamentSelection];
1273 | //************** added on 10.13.18
1274 |
1275 | oldBearingPosition = bearingAbsPos[filamentSelection]; // update the idler bearing position
1276 |
1277 |
1278 | //Serial.print(F("unParkIdler() Idler Setting: "));
1279 | //Serial.println(rollerSetting);
1280 |
1281 | idlerturnamount(rollerSetting, CW); // restore the old position
1282 | idlerStatus = ACTIVE; // mark the idler as active
1283 |
1284 |
1285 | }
1286 |
1287 | // attempt to disengage the idler bearing after a 'T' command instead of parking the idler
1288 | // this is trying to save significant time on re-engaging the idler when the 'C' command is activated
1289 |
1290 | void quickParkIdler() {
1291 | int newSetting;
1292 |
1293 | digitalWrite(idlerEnablePin, ENABLE); // turn on the idler stepper motor
1294 | delay(1);
1295 |
1296 | //**************************************************************************************************
1297 | //* this is flawed logic, if I have done a special park idler the oldBearingPosition doesn't map exactly to the filamentSelection
1298 | //* discovered on 10.13.18
1299 | //* In fact, I don't need to update the 'oldBearingPosition' value, it is already VALID
1300 | //********************************************************************************************************************************
1301 | // oldBearingPosition = bearingAbsPos[filamentSelection]; // fetch the bearing position based on the filament state
1302 |
1303 |
1304 | //newSetting = MAXROLLERTRAVEL - oldBearingPosition;
1305 | //*************************************************************************************************
1306 | //* this is a new approach to moving the idler just a little bit (off the filament)
1307 | //* in preparation for the 'C' Command
1308 |
1309 | //*************************************************************************************************
1310 | #ifdef NOTDEF
1311 | Serial.print(F("quickparkidler(): currentExtruder: "));
1312 | Serial.println(currentExtruder);
1313 | #endif
1314 |
1315 | //* COMMENTED OUT THIS SECTION OF CODE on 10.13.18 (don't think it is necessary)
1316 | #ifdef CRAZYIVAN
1317 | if (currentExtruder == 4) {
1318 | newSetting = oldBearingPosition - IDLERSTEPSIZE;
1319 | idlerturnamount(IDLERSTEPSIZE, CW);
1320 | } else {
1321 | #endif
1322 |
1323 | newSetting = oldBearingPosition + IDLERSTEPSIZE; // try to move 12 units (just to disengage the roller)
1324 | idlerturnamount(IDLERSTEPSIZE, CCW);
1325 |
1326 | #ifdef CRAZYIVAN
1327 | }
1328 | #endif
1329 |
1330 | //oldBearingPosition = MAXROLLERTRAVEL; // record the current roller status (CSK)
1331 | //************************************************************************************************
1332 | //* record the idler position
1333 | //* had to be fixed on 10.13.18
1334 | //***********************************************************************************************
1335 | oldBearingPosition = oldBearingPosition + IDLERSTEPSIZE; // record the current position of the IDLER bearing
1336 | #ifdef NOTDEF
1337 | Serial.print(F("quickparkidler() oldBearingPosition: "));
1338 | Serial.println(oldBearingPosition);
1339 | #endif
1340 |
1341 | idlerStatus = QUICKPARKED; // use this new state to show the idler is pending the 'C0' command
1342 |
1343 | //*********************************************************************************************************
1344 | //* DO NOT TURN OFF THE IDLER ... needs to be held in position
1345 | //*********************************************************************************************************
1346 |
1347 | //digitalWrite(idlerEnablePin, DISABLE); // turn off the roller bearing stepper motor (nice to do, cuts down on CURRENT utilization)
1348 |
1349 | }
1350 |
1351 | //*********************************************************************************************
1352 | // this routine is called by the 'C' command to re-engage the idler bearing
1353 | //*********************************************************************************************
1354 | void quickUnParkIdler() {
1355 | int rollerSetting;
1356 |
1357 | //*********************************************************************************************************
1358 | //* don't need to turn on the idler ... it is already on (from the 'T' command)
1359 | //*********************************************************************************************************
1360 |
1361 | //digitalWrite(idlerEnablePin, ENABLE); // turn on the roller bearing motor
1362 | //delay(1); // wait for 1 millisecond
1363 | //if (idlerStatus != QUICKPARKED) {
1364 | // Serial.println(F("quickUnParkIdler(): idler already parked"));
1365 | // return; // do nothing since the idler is not 'quick parked'
1366 | //}
1367 |
1368 | #ifdef NOTDEF
1369 | Serial.print(F("quickunparkidler(): currentExtruder: "));
1370 | Serial.println(currentExtruder);
1371 | #endif
1372 |
1373 |
1374 | // re-enage the idler bearing that was only moved 1 position (for quicker re-engagement)
1375 | //
1376 | #ifdef CRAZYIVAN
1377 | if (currentExtruder == 4) {
1378 | rollerSetting = oldBearingPosition + IDLERSTEPSIZE;
1379 | idlerturnamount(IDLERSTEPSIZE, CCW);
1380 | } else {
1381 | #endif
1382 |
1383 | rollerSetting = oldBearingPosition - IDLERSTEPSIZE; // go back IDLERSTEPSIZE units (hopefully re-enages the bearing
1384 | idlerturnamount(IDLERSTEPSIZE, CW); // restore old position
1385 |
1386 | #ifdef CRAZYIVAN
1387 | }
1388 | #endif
1389 |
1390 | //Serial.print(F("unParkIdler() Idler Setting: "));
1391 | //Serial.println(rollerSetting);
1392 |
1393 | //************************************************************************************************
1394 | //* track the absolute position of the idler (changed on 10.13.18
1395 | //***********************************************************************************************
1396 | Serial.print(F("quickunparkidler(): oldBearingPosition"));
1397 | Serial.println(oldBearingPosition);
1398 | oldBearingPosition = rollerSetting - IDLERSTEPSIZE; // keep track of the idler position
1399 |
1400 | idlerStatus = ACTIVE; // mark the idler as active
1401 |
1402 |
1403 | }
1404 |
1405 | //***************************************************************************************************************
1406 | //* called by 'C' command to park the idler
1407 | //***************************************************************************************************************
1408 | void specialParkIdler() {
1409 | int newSetting, idlerSteps;
1410 |
1411 | digitalWrite(idlerEnablePin, ENABLE); // turn on the idler stepper motor
1412 | delay(1);
1413 |
1414 | // oldBearingPosition = bearingAbsPos[filamentSelection]; // fetch the bearing position based on the filament state
1415 |
1416 | //*************************************************************************************************
1417 | //* this is a new approach to moving the idler just a little bit (off the filament)
1418 | //* in preparation for the 'C' Command
1419 |
1420 | //*************************************************************************************************
1421 | if (IDLERSTEPSIZE % 2) {
1422 | idlerSteps = IDLERSTEPSIZE / 2 + 1; // odd number processing, need to round up
1423 |
1424 | } else {
1425 | idlerSteps = IDLERSTEPSIZE / 2;
1426 |
1427 | }
1428 |
1429 | #ifdef NOTDEF
1430 | Serial.print(F("SpecialParkIdler() idlersteps: "));
1431 | Serial.println(idlerSteps);
1432 | #endif
1433 |
1434 | newSetting = oldBearingPosition + idlerSteps; // try to move 6 units (just to disengage the roller)
1435 | idlerturnamount(idlerSteps, CCW);
1436 |
1437 | //************************************************************************************************
1438 | //* record the idler position (get back to where we were)
1439 | //***********************************************************************************************
1440 | oldBearingPosition = oldBearingPosition + idlerSteps; // record the current position of the IDLER bearingT
1441 |
1442 | #ifdef DEBUGIDLER
1443 | Serial.print(F("SpecialParkIdler() oldBearingPosition: "));
1444 | Serial.println(oldBearingPosition);
1445 | #endif
1446 |
1447 | idlerStatus = QUICKPARKED; // use this new state to show the idler is pending the 'C0' command
1448 |
1449 | //* SPECIAL DEBUG (10.13.18 - evening)
1450 | //* turn off the idler stepper motor
1451 | // digitalWrite(idlerEnablePin, DISABLE); // turn off the roller bearing stepper motor (nice to do, cuts down on CURRENT utilization)
1452 |
1453 | #ifdef NOTDEF
1454 | digitalWrite(extruderEnablePin, DISABLE);
1455 | extruderMotorStatus = INACTIVE;
1456 | #endif
1457 |
1458 | }
1459 |
1460 | //*********************************************************************************************
1461 | // this routine is called by the 'C' command to re-engage the idler bearing
1462 | //*********************************************************************************************
1463 | void specialUnParkIdler() {
1464 | int newSetting, idlerSteps;
1465 |
1466 | // re-enage the idler bearing that was only moved 1 position (for quicker re-engagement)
1467 | //
1468 | if (IDLERSTEPSIZE % 2) {
1469 | idlerSteps = IDLERSTEPSIZE / 2 + 1; // odd number processing, need to round up
1470 |
1471 | } else {
1472 | idlerSteps = IDLERSTEPSIZE / 2;
1473 | }
1474 |
1475 | #ifdef NOTDEF
1476 | Serial.print(F("SpecialUnParkIdler() idlersteps: "));
1477 | Serial.println(idlerSteps);
1478 | #endif
1479 |
1480 | #ifdef DEBUGIDLER
1481 | Serial.print(F("SpecialUnParkIdler() oldBearingPosition (beginning of routine): "));
1482 | Serial.println(oldBearingPosition);
1483 | #endif
1484 |
1485 | newSetting = oldBearingPosition - idlerSteps; // go back IDLERSTEPSIZE units (hopefully re-enages the bearing
1486 | idlerturnamount(idlerSteps, CW); // restore old position
1487 |
1488 | // MIGHT BE A BAD IDEA
1489 | oldBearingPosition = oldBearingPosition - idlerSteps; // keep track of the idler position
1490 |
1491 | #ifdef DEBUGIDLER
1492 | Serial.print(F("SpecialUnParkIdler() oldBearingPosition: (end of routine): "));
1493 | Serial.println(oldBearingPosition);
1494 | #endif
1495 |
1496 | idlerStatus = ACTIVE; // mark the idler as active
1497 |
1498 |
1499 | }
1500 |
1501 | void deActivateColorSelector() {
1502 | int newSetting;
1503 |
1504 | #ifdef TURNOFFSELECTORMOTOR
1505 | digitalWrite(colorSelectorEnablePin, DISABLE); // turn off the color selector stepper motor (nice to do, cuts down on CURRENT utilization)
1506 | delay(1);
1507 | colorSelectorStatus = INACTIVE;
1508 | #endif
1509 |
1510 | }
1511 |
1512 | void activateColorSelector() {
1513 | digitalWrite(colorSelectorEnablePin, ENABLE);
1514 | delay(1);
1515 | colorSelectorStatus = ACTIVE;
1516 | }
1517 |
1518 |
1519 |
1520 |
1521 | void recvOneChar() {
1522 | if (Serial.available() > 0) {
1523 | receivedChar = Serial.read();
1524 | newData = true;
1525 | }
1526 | }
1527 |
1528 | void showNewData() {
1529 | if (newData == true) {
1530 | Serial.print(F("This just in ... "));
1531 | Serial.println(receivedChar);
1532 | newData = false;
1533 | }
1534 | }
1535 |
1536 | #ifdef ORIGINALCODE
1537 |
1538 | void processKeyboardInput() {
1539 |
1540 |
1541 | while (newData == false) {
1542 | recvOneChar();
1543 | }
1544 |
1545 | showNewData(); // character received
1546 |
1547 | Serial.print(F("Filament Selected: "));
1548 | Serial.println(receivedChar);
1549 |
1550 | switch (receivedChar) {
1551 | case '1':
1552 | case '2':
1553 | case '3':
1554 | case '4':
1555 | case '5':
1556 | if (idlerStatus == INACTIVE)
1557 | activateRollers();
1558 |
1559 | if (colorSelectorStatus == INACTIVE)
1560 | activateColorSelector(); // turn on the color selector motor
1561 |
1562 |
1563 | idlerSelector(receivedChar); // move the filament selector stepper motor to the right spot
1564 | colorSelector(receivedChar); // move the color Selector stepper Motor to the right spot
1565 |
1566 | break;
1567 | case 'd': // de-active the bearing roller stepper motor and color selector stepper motor
1568 | case 'D':
1569 | parkIdler();
1570 | deActivateColorSelector();
1571 | break;
1572 | case 'l': // start the load process for the filament
1573 | case 'L':
1574 | // unParkIdler();
1575 | if (idlerStatus == INACTIVE)
1576 | unParkIdler();
1577 | loadFilament(CCW);
1578 | parkIdler(); // move the bearing rollers out of the way after a load is complete
1579 | break;
1580 | case 'u': // unload the filament from the MMU2 device
1581 | case 'U':
1582 | unParkIdler(); // working on this command
1583 | loadFilament(CW);
1584 | parkIdler(); // after the unload of the filament, move the bearing rollers out of the way
1585 | break;
1586 | case 't':
1587 | case 'T':
1588 | csTurnAmount(200, CW);
1589 | delay(1000);
1590 | csTurnAmount(200, CCW);
1591 | break;
1592 | default:
1593 | Serial.println(F("Invalid Serial Output Selection"));
1594 | } // end of switch statement
1595 | }
1596 | #endif
1597 |
1598 | //***********************************************************************************
1599 | //* this routine is executed as part of the 'T' Command (Load Filament)
1600 | //***********************************************************************************
1601 | void filamentLoadToMK3() {
1602 | float fsteps;
1603 | unsigned int steps;
1604 | int findaStatus;
1605 | int flag;
1606 | int filamentDistance;
1607 | int fStatus;
1608 | int startTime, currentTime;
1609 |
1610 |
1611 | if ((currentExtruder < '0') || (currentExtruder > '4')) {
1612 | Serial.println(F("filamentLoadToMK3(): fixing current extruder variable"));
1613 | currentExtruder = '0';
1614 | }
1615 | #ifdef DEBUG
1616 | Serial.println(F("Attempting to move Filament to Print Head Extruder Bondtech Gears"));
1617 | //unParkIdler();
1618 | Serial.print(F("filamentLoadToMK3(): currentExtruder: "));
1619 | Serial.println(currentExtruder);
1620 | #endif
1621 |
1622 | // idlerSelector(currentExtruder); // active the idler before the filament load
1623 |
1624 | deActivateColorSelector();
1625 |
1626 | digitalWrite(extruderEnablePin, ENABLE); // turn on the extruder stepper motor (10.14.18)
1627 | digitalWrite(extruderDirPin, CCW); // set extruder stepper motor to push filament towards the mk3
1628 | delay(1); // wait 1 millisecond
1629 |
1630 | startTime = millis();
1631 |
1632 | loop:
1633 | // feedFilament(1); // 1 step and then check the pinda status
1634 | feedFilament(STEPSPERMM); // feed 1 mm of filament into the bowden tube
1635 |
1636 | findaStatus = digitalRead(findaPin); // read the FINDA sensor in the MMU2
1637 | currentTime = millis();
1638 |
1639 | // added this timeout feature on 10.4.18 (2 second timeout)
1640 | if ((currentTime - startTime) > 2000) {
1641 | fixTheProblem("FILAMENT LOAD ERROR: Filament not detected by FINDA sensor, check the selector head in the MMU2");
1642 |
1643 | startTime = millis();
1644 | }
1645 | if (findaStatus == 0) // keep feeding the filament until the pinda sensor triggers
1646 | goto loop;
1647 | //***************************************************************************************************
1648 | //* added additional check (10.10.18) - if the filament switch is already set this might mean there is a switch error or a clog
1649 | //* this error condition can result in 'air printing'
1650 | //***************************************************************************************************************************
1651 | loop1:
1652 | fStatus = digitalRead(filamentSwitch);
1653 | if (fStatus == 0) { // switch is active (this is not a good condition)
1654 | fixTheProblem("FILAMENT LOAD ERROR: Filament Switch in the MK3 is active (see the RED LED), it is either stuck open or there is debris");
1655 | goto loop1;
1656 | }
1657 |
1658 |
1659 |
1660 | //Serial.println(F("filamentLoadToMK3(): Pinda Sensor Triggered during Filament Load"));
1661 | // now loading from the FINDA sensor all the way down to the NEW filament sensor
1662 |
1663 | feedFilament(STEPSPERMM * 350); // go 350 mm then look for the 2nd filament sensor
1664 | filamentDistance = 350;
1665 |
1666 | //delay(15000); //wait 15 seconds
1667 | //feedFilament(STEPSPERMM*100); //go 100 more mm
1668 | //delay(15000);
1669 | //goto skipeverything;
1670 |
1671 | startTime = millis();
1672 | flag = 0;
1673 | //filamentDistance = 0;
1674 |
1675 | // wait until the filament sensor on the mk3 extruder head (microswitch) triggers
1676 | while (flag == 0) {
1677 |
1678 | currentTime = millis();
1679 | if ((currentTime - startTime) > 8000) { // only wait for 8 seconds
1680 | fixTheProblem("FILAMENT LOAD ERROR: Filament not detected by the MK3 filament sensor, check the bowden tube for clogging/binding");
1681 | startTime = millis(); // reset the start Time
1682 |
1683 | }
1684 |
1685 | feedFilament(STEPSPERMM); // step forward 1 mm
1686 | filamentDistance++;
1687 | fStatus = digitalRead(filamentSwitch); // read the filament switch on the mk3 extruder
1688 | if (fStatus == 0) {
1689 | // Serial.println(F("filament switch triggered"));
1690 | flag = 1;
1691 |
1692 | Serial.print(F("Filament distance traveled (mm): "));
1693 | Serial.println(filamentDistance);
1694 |
1695 | switch (filamentSelection) {
1696 | case 0:
1697 | if (filamentDistance < f0Min) {
1698 | f0Min = filamentDistance;
1699 | }
1700 | if (filamentDistance > f0Max) {
1701 | f0Max = filamentDistance;
1702 | }
1703 | f0Distance += filamentDistance;
1704 | f0ToolChange++;
1705 | f0Avg = f0Distance / f0ToolChange;
1706 | break;
1707 | case 1:
1708 | if (filamentDistance < f1Min) {
1709 | f1Min = filamentDistance;
1710 | }
1711 | if (filamentDistance > f1Max) {
1712 | f1Max = filamentDistance;
1713 | }
1714 | f1Distance += filamentDistance;
1715 | f1ToolChange++;
1716 | f1Avg = f1Distance / f1ToolChange;
1717 | break;
1718 |
1719 | case 2:
1720 | if (filamentDistance < f2Min) {
1721 | f2Min = filamentDistance;
1722 | }
1723 | if (filamentDistance > f2Max) {
1724 | f2Max = filamentDistance;
1725 | }
1726 | f2Distance += filamentDistance;
1727 | f2ToolChange++;
1728 | f2Avg = f2Distance / f2ToolChange;
1729 | break;
1730 | case 3:
1731 | if (filamentDistance < f3Min) {
1732 | f3Min = filamentDistance;
1733 | }
1734 | if (filamentDistance > f3Max) {
1735 | f3Max = filamentDistance;
1736 | }
1737 | f3Distance += filamentDistance;
1738 | f3ToolChange++;
1739 | f3Avg = f3Distance / f3ToolChange;
1740 | break;
1741 | case 4:
1742 | if (filamentDistance < f4Min) {
1743 | f4Min = filamentDistance;
1744 | }
1745 | if (filamentDistance > f4Max) {
1746 | f4Max = filamentDistance;
1747 | }
1748 |
1749 | f4Distance += filamentDistance;
1750 | f4ToolChange++;
1751 | f4Avg = f4Distance / f4ToolChange;
1752 | break;
1753 | default:
1754 | Serial.println(F("Error, Invalid Filament Selection"));
1755 |
1756 | }
1757 | // printFilamentStats();
1758 |
1759 | }
1760 | }
1761 | // feed filament an additional 32 mm to hit the middle of the bondtech gear
1762 | // go an additional 32mm (increased to 32mm on 10.4.18)
1763 |
1764 | feedFilament(STEPSPERMM * 32);
1765 |
1766 |
1767 |
1768 |
1769 | //#############################################################################################################################
1770 | //# NEWEXPERIMENT: removed the parkIdler() command on 10.5.18 to improve timing between 'T' command followng by 'C' command
1771 | //#############################################################################################################################
1772 | // parkIdler(); // park the IDLER (bearing) motor
1773 |
1774 | //delay(200); // removed on 10.5.18
1775 | //Serial1.print(F("ok\n")); // send back acknowledge to the mk3 controller (removed on 10.5.18)
1776 |
1777 | }
1778 |
1779 | void printFilamentStats() {
1780 | Serial.println(F(" "));
1781 | Serial.print(F("F0 Min: "));
1782 | Serial.print(f0Min);
1783 | Serial.print(F(" F0 Max: "));
1784 | Serial.print(f0Max);
1785 | Serial.print(F(" F0 Avg: "));
1786 | Serial.print(f0Avg);
1787 | Serial.print(F(" F0 Length: "));
1788 | Serial.print(f0Distance);
1789 | Serial.print(F(" F0 count: "));
1790 | Serial.println(f0ToolChange);
1791 |
1792 | Serial.print(F("F1 Min: "));
1793 | Serial.print(f1Min);
1794 | Serial.print(F(" F1 Max: "));
1795 | Serial.print(f1Max);
1796 | Serial.print(F(" F1 Avg: "));
1797 | Serial.print(f1Avg);
1798 | Serial.print(F(" F1 Length: "));
1799 | Serial.print(f1Distance);
1800 | Serial.print(F(" F1 count: "));
1801 | Serial.println(f1ToolChange);
1802 |
1803 | Serial.print(F("F2 Min: "));
1804 | Serial.print(f2Min);
1805 | Serial.print(F(" F2 Max: "));
1806 | Serial.print(f2Max);
1807 | Serial.print(F(" F2 Avg: "));
1808 | Serial.print(f2Avg);
1809 | Serial.print(F(" F2 Length: "));
1810 | Serial.print(f2Distance);
1811 | Serial.print(F(" F2 count: "));
1812 | Serial.println(f2ToolChange);
1813 |
1814 | Serial.print(F("F3 Min: "));
1815 | Serial.print(f3Min);
1816 | Serial.print(F(" F3 Max: "));
1817 | Serial.print(f3Max);
1818 | Serial.print(F(" F3 Avg: "));
1819 | Serial.print(f3Avg);
1820 | Serial.print(F(" F3 Length: "));
1821 | Serial.print(f3Distance);
1822 | Serial.print(F(" F3 count: "));
1823 | Serial.println(f3ToolChange);
1824 |
1825 | Serial.print(F("F4 Min: "));
1826 | Serial.print(f4Min);
1827 | Serial.print(F(" F4 Max: "));
1828 | Serial.print(f4Max);
1829 | Serial.print(F(" F4 Avg: "));
1830 | Serial.print(f4Avg);
1831 | Serial.print(F(" F4 Length: "));
1832 | Serial.print(f4Distance);
1833 | Serial.print(F(" F4 count: "));
1834 | Serial.println(f4ToolChange);
1835 |
1836 | }
1837 |
1838 | int isFilamentLoaded() {
1839 | int findaStatus;
1840 |
1841 | findaStatus = digitalRead(findaPin);
1842 | return (findaStatus);
1843 | }
1844 |
1845 | //
1846 | // (T) Tool Change Command - this command is the core command used my the mk3 to drive the mmu2 filament selection
1847 | //
1848 | void toolChange( char selection) {
1849 | int newExtruder;
1850 |
1851 | ++toolChangeCount; // count the number of tool changes
1852 | ++trackToolChanges;
1853 |
1854 | //**********************************************************************************
1855 | // * 10.10.18 added an automatic reset of the tracktoolchange counter since going to
1856 | // filament position '0' move the color selection ALL the way to the left
1857 | //*********************************************************************************
1858 | if (selection == '0') {
1859 | // Serial.println(F("toolChange() filament '0' selected: resetting tracktoolchanges counter"));
1860 | trackToolChanges = 0;
1861 | }
1862 |
1863 | Serial.print(F("Tool Change Count: "));
1864 | Serial.println(toolChangeCount);
1865 |
1866 |
1867 | newExtruder = selection - 0x30; // convert ASCII to a number (0-4)
1868 |
1869 |
1870 | //***********************************************************************************************
1871 | // code snippet added on 10.8.18 to help the 'C' command processing (happens after 'T' command
1872 | //***********************************************************************************************
1873 | if (newExtruder == filamentSelection) { // already at the correct filament selection
1874 |
1875 | if (!isFilamentLoaded() ) { // no filament loaded
1876 |
1877 | Serial.println(F("toolChange: filament not currently loaded, loading ..."));
1878 |
1879 | idlerSelector(selection); // move the filament selector stepper motor to the right spot
1880 | colorSelector(selection); // move the color Selector stepper Motor to the right spot
1881 | filamentLoadToMK3();
1882 | quickParkIdler(); // command moved here on 10.13.18
1883 | //****************************************************************************************
1884 | //* added on 10.8.18 to help the 'C' command
1885 | //***************************************************************************************
1886 | repeatTCmdFlag = INACTIVE; // used to help the 'C' command
1887 | //loadFilamentToFinda();
1888 | } else {
1889 | Serial.println(F("toolChange: filament already loaded to mk3 extruder"));
1890 | //*********************************************************************************************
1891 | //* added on 10.8.18 to help the 'C' Command
1892 | //*********************************************************************************************
1893 | repeatTCmdFlag = ACTIVE; // used to help the 'C' command to not feed the filament again
1894 | }
1895 |
1896 | // else { // added on 9.24.18 to
1897 | // Serial.println(F("Filament already loaded, unloading the filament"));
1898 | // idlerSelector(selection);
1899 | // unloadFilamentToFinda();
1900 | // }
1901 |
1902 | } else { // different filament position
1903 | //********************************************************************************************
1904 | //* added on 19.8.18 to help the 'C' Command
1905 | //************************************************************************************************
1906 | repeatTCmdFlag = INACTIVE; // turn off the repeat Commmand Flag (used by 'C' Command)
1907 | if (isFilamentLoaded()) {
1908 | //**************************************************************
1909 | // added on 10.5.18 to get the idler into the correct state
1910 | // idlerSelector(currentExtruder);
1911 | //**************************************************************
1912 | #ifdef DEBUG
1913 | Serial.println(F("Unloading filament"));
1914 | #endif
1915 |
1916 | idlerSelector(currentExtruder); // point to the current extruder
1917 |
1918 | unloadFilamentToFinda(); // have to unload the filament first
1919 | }
1920 |
1921 |
1922 |
1923 |
1924 | if (trackToolChanges > TOOLSYNC) { // reset the color selector stepper motor (gets out of alignment)
1925 | Serial.println(F("Synchronizing the Filament Selector Head"));
1926 | //!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
1927 | // NOW HAVE A MORE ELEGANT APPROACH - syncColorSelector (and it works)
1928 | // !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
1929 | syncColorSelector();
1930 | //initColorSelector(); // reset the color selector
1931 |
1932 |
1933 | activateColorSelector(); // turn the color selector motor back on
1934 | currentPosition = 0; // reset the color selector
1935 |
1936 | // colorSelector('0'); // move selector head to position 0
1937 |
1938 | trackToolChanges = 0;
1939 |
1940 | }
1941 | #ifdef DEBUG
1942 | Serial.println(F("Selecting the proper Idler Location"));
1943 | #endif
1944 | idlerSelector(selection);
1945 | #ifdef DEBUG
1946 | Serial.println(F("Selecting the proper Selector Location"));
1947 | #endif
1948 | colorSelector(selection);
1949 | #ifdef DEBUG
1950 | Serial.println(F("Loading Filament: loading the new filament to the mk3"));
1951 | #endif
1952 |
1953 | filamentLoadToMK3(); // moves the idler and loads the filament
1954 |
1955 |
1956 | filamentSelection = newExtruder;
1957 | currentExtruder = selection;
1958 | quickParkIdler(); // command moved here on 10.13.18
1959 | }
1960 |
1961 | //******************************************************************************************
1962 | //* barely move the idler out of the way
1963 | //* WARNING: THIS MAY NOT WORK PROPERLY ... NEEDS TO BE DEBUGGED (10.7.18)
1964 | //******************************************************************************************
1965 | // quickParkIdler(); // 10.7.2018 ... attempt to speed up idler for the follow-on 'C' command
1966 |
1967 | //******************************************************************************************
1968 | //* this was how it was normally done until the above command was attempted
1969 | //******************************************************************************************
1970 | //parkIdler(); // move the idler away
1971 |
1972 |
1973 | } // end of ToolChange processing
1974 |
1975 |
1976 | // part of the 'C' command, does the last little bit to load into the past the extruder gear
1977 | void filamentLoadWithBondTechGear() {
1978 | int findaStatus;
1979 | long steps;
1980 | int i;
1981 | int delayFactor; // delay factor (in microseconds) for the filament load loop
1982 | int stepCount;
1983 | int tSteps;
1984 | long timeStart, timeEnd, timeUnparking;
1985 |
1986 | timeCStart = millis();
1987 |
1988 | //*****************************************************************************************************************
1989 | //* added this code snippet to not process a 'C' command that is essentially a repeat command
1990 |
1991 |
1992 | if (repeatTCmdFlag == ACTIVE) {
1993 | Serial.println(F("filamentLoadWithBondTechGear(): filament already loaded and 'C' command already processed"));
1994 | repeatTCmdFlag = INACTIVE;
1995 | return;
1996 | }
1997 |
1998 |
1999 |
2000 | findaStatus = digitalRead(findaPin);
2001 |
2002 | if (findaStatus == 0) {
2003 | Serial.println(F("filamentLoadWithBondTechGear() Error, filament sensor thinks there is no filament"));
2004 | return;
2005 | }
2006 |
2007 | if ((currentExtruder < '0') || (currentExtruder > '4')) {
2008 | Serial.println(F("filamentLoadWithBondTechGear(): fixing current extruder variable"));
2009 | currentExtruder = '0';
2010 | }
2011 |
2012 |
2013 | //*************************************************************************************************
2014 | //* change of approach to speed up the IDLER engagement 10.7.18
2015 | //* WARNING: THIS APPROACH MAY NOT WORK ... NEEDS TO BE DEBUGGED
2016 | //* C command assumes there is always a T command right before it
2017 | //* (IF 2 'C' commands are issued by the MK3 in a row the code below might be an issue)
2018 | //*
2019 | //*************************************************************************************************
2020 | timeStart = millis();
2021 | if (idlerStatus == QUICKPARKED) { // make sure idler is in the pending state (set by quickparkidler() routine)
2022 | // Serial.println(F("'C' Command: quickUnParking the Idler"));
2023 | // quickUnParkIdler();
2024 | #ifdef NOTDEF
2025 | Serial.println(F("filamentLoadWithBondTechGear() calling specialunparkidler() routine"));
2026 | #endif
2027 | specialUnParkIdler(); // PLACEHOLDER attempt to speed up the idler engagement a little more 10.13.18
2028 | }
2029 | if (idlerStatus == INACTIVE) {
2030 | unParkIdler();
2031 | }
2032 |
2033 | #ifdef NOTDEF
2034 | else {
2035 | Serial.println(F("filamentLoadWithBondTechGear(): looks like I received two 'C' commands in a row"));
2036 | Serial.println(F(" ignoring the 2nd 'C' command"));
2037 | return;
2038 | }
2039 | #endif
2040 |
2041 |
2042 | timeEnd = millis();
2043 | timeUnparking = timeEnd - timeStart;
2044 | //*************************************************************************************************
2045 | //* following line of code is currently disabled (in order to test out the code above
2046 | //* NOTE: I don't understand why the unParkIdler() command is not used instead ???
2047 | //************************************************************************************************
2048 | // idlerSelector(currentExtruder); // move the idler back into position
2049 |
2050 | stepCount = 0;
2051 | time0 = millis();
2052 | digitalWrite(greenLED, HIGH); // turn on the green LED (for debug purposes)
2053 | //*******************************************************************************************
2054 | // feed the filament from the MMU2 into the bondtech gear for 2 seconds at 10 mm/sec
2055 | // STEPPERMM : 144, 1: duration in seconds, 21: feed rate (in mm/sec)
2056 | // delay: 674 (for 10 mm/sec)
2057 | // delay: 350 (for 21 mm/sec)
2058 | // LOAD_DURATION: 1 second (time to spend with the mmu2 extruder active)
2059 | // LOAD_SPEED: 21 mm/sec (determined by Slic3r settings
2060 | // INSTRUCTION_DELAY: 25 useconds (time to do the instructions in the loop below, excluding the delayFactor)
2061 | // #define LOAD_DURATION 1000 (load duration in milliseconds, currently set to 1 second)
2062 | // #define LOAD_SPEED 21 // load speed (in mm/sec) during the 'C' command (determined by Slic3r setting)
2063 | // #defefine INSTRUCTION_DELAY 25 // delay (in microseconds) of the loop
2064 |
2065 | // *******************************************************************************************
2066 | // compute the loop delay factor (eventually this will replace the '350' entry in the loop)
2067 | // this computed value is in microseconds of time
2068 | //********************************************************************************************
2069 | // delayFactor = ((LOAD_DURATION * 1000.0) / (LOAD_SPEED * STEPSPERMM)) - INSTRUCTION_DELAY; // compute the delay factor (in microseconds)
2070 |
2071 | // for (i = 0; i < (STEPSPERMM * 1 * 21); i++) {
2072 |
2073 | tSteps = STEPSPERMM * ((float)LOAD_DURATION / 1000.0) * LOAD_SPEED; // compute the number of steps to take for the given load duration
2074 | delayFactor = (float(LOAD_DURATION * 1000.0) / tSteps) - INSTRUCTION_DELAY; // 2nd attempt at delayFactor algorithm
2075 |
2076 | #ifdef NOTDEF
2077 | Serial.print(F("Tsteps: "));
2078 | Serial.println(tSteps);
2079 | #endif
2080 |
2081 | for (i = 0; i < tSteps; i++) {
2082 | digitalWrite(extruderStepPin, HIGH); // step the extruder stepper in the MMU2 unit
2083 | delayMicroseconds(PINHIGH);
2084 | digitalWrite(extruderStepPin, LOW);
2085 | //*****************************************************************************************************
2086 | // replace '350' with delayFactor once testing of variable is complete
2087 | //*****************************************************************************************************
2088 | // after further testing, the '350' can be replaced by delayFactor
2089 | delayMicroseconds(delayFactor); // this was calculated in order to arrive at a 10mm/sec feed rate
2090 | ++stepCount;
2091 | }
2092 | digitalWrite(greenLED, LOW); // turn off the green LED (for debug purposes)
2093 |
2094 | time1 = millis();
2095 |
2096 |
2097 | //!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
2098 | // copied from the MM-control-01/blob/master/motion.cpp routine
2099 | // NO LONGER USED (abandoned in place on 10.7.18) ... came up with a better algorithm (see above)
2100 | //
2101 | //!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
2102 | //***********************************************************************************************************
2103 | //* THIS CODE WORKS BUT IT LEADS TO SOME GRINDING AT THE MMU2 WHILE THE BONDTECH GEAR IS LOADING THE FILAMENT
2104 | //***********************************************************************************************************
2105 | #ifdef NOTDEF
2106 | for (i = 0; i <= 320; i++) {
2107 | digitalWrite(extruderStepPin, HIGH);
2108 | delayMicroseconds(PINHIGH); // delay for 10 useconds
2109 | digitalWrite(extruderStepPin, LOW);
2110 | //delayMicroseconds(2600); // originally 2600
2111 | delayMicroseconds(800); // speed up by a factor of 3
2112 |
2113 | }
2114 | for (i = 0; i <= 450; i++) {
2115 | digitalWrite(extruderStepPin, HIGH);
2116 | delayMicroseconds(PINHIGH); // delay for 10 useconds
2117 | digitalWrite(extruderStepPin, LOW);
2118 | // delayMicroseconds(2200); // originally 2200
2119 | delayMicroseconds(800); // speed up by a factor of 3
2120 | }
2121 | #endif
2122 |
2123 | #ifdef DEBUG
2124 | Serial.println(F("C Command: parking the idler"));
2125 | #endif
2126 | //***************************************************************************************************************************
2127 | //* this disengags the idler pulley after the 'C' command has been exectuted
2128 | //***************************************************************************************************************************
2129 | // quickParkIdler(); // changed to quickparkidler on 10.12.18 (speed things up a bit)
2130 |
2131 | specialParkIdler(); // PLACEHOLDER (experiment attempted on 10.13.18)
2132 |
2133 | //parkIdler(); // turn OFF the idler rollers when filament is loaded
2134 |
2135 | timeCEnd = millis();
2136 | //*********************************************************************************************
2137 | //* going back to the fundamental approach with the idler
2138 | //*********************************************************************************************
2139 | parkIdler(); // cleanest way to deal with the idler
2140 |
2141 |
2142 |
2143 | printFilamentStats(); // print current Filament Stats
2144 |
2145 | Serial.print(F("'T' Command processing time (ms): "));
2146 | Serial.println(time5 - time4);
2147 | Serial.print(F("'C' Command processing time (ms): "));
2148 | Serial.println(timeCEnd - timeCStart);
2149 |
2150 | #ifdef NOTDEF
2151 | Serial.print(F("Time 'T' Command Received: "));
2152 | Serial.println(time4);
2153 | Serial.print(F("Time 'T' Command Completed: "));
2154 | Serial.println(time5);
2155 | #endif
2156 |
2157 | #ifdef NOTDEF
2158 | Serial.print(F("Time 'C' Command Received: "));
2159 | Serial.println(time3);
2160 | #endif
2161 |
2162 |
2163 | Serial.print(F("Time in Critical Load Loop: "));
2164 | Serial.println(time1 - time0);
2165 |
2166 | #ifdef NOTDEF
2167 | Serial.print(F("Time at Parking the Idler Complete: "));
2168 | Serial.println(time2);
2169 | Serial.print(F("Number of commanded steps to the Extruder: "));
2170 | Serial.println(stepCount);
2171 | Serial.print(F("Computed Delay Factor: "));
2172 | Serial.println(delayFactor);
2173 | Serial.print(F("Time Unparking: "));
2174 | Serial.println(timeUnparking);
2175 | #endif
2176 |
2177 | #ifdef DEBUG
2178 | Serial.println(F("filamentLoadToMK3(): Loading Filament to Print Head Complete"));
2179 | #endif
2180 |
2181 | }
2182 |
2183 | Application::Application()
2184 | {
2185 | // nothing to do in the constructor
2186 | }
2187 |
--------------------------------------------------------------------------------
/mmu2-diy/application.h:
--------------------------------------------------------------------------------
1 | #ifndef APPLICATION_H
2 | #define APPLICATION_H
3 |
4 | #include
5 |
6 |
7 | class Application
8 | {
9 | public:
10 | Application();
11 |
12 | void setup();
13 | void loop();
14 | };
15 |
16 | #endif // APPLICATION_H
17 |
18 |
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/mmu2-diy/mmu2-diy.ino:
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1 |
2 | #include "Arduino.h"
3 | #include "application.h"
4 |
5 | Application app;
6 |
7 | void setup(){
8 | app.setup();
9 | }
10 |
11 | void loop(){
12 | app.loop();
13 | }
14 |
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/piolib/readme.txt:
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1 |
2 | This directory is intended for project specific (private) libraries.
3 | PlatformIO will compile them to static libraries and link them to executable files.
4 |
5 | The source code of each library should be placed in separate directories, like
6 | "lib/private_lib/[here are source files]".
7 |
8 | For example, see the structure of the following two libraries `Foo` and `Bar`:
9 |
10 | |--lib
11 | | |
12 | | |--Bar
13 | | | |--docs
14 | | | |--examples
15 | | | |--src
16 | | | |- Bar.c
17 | | | |- Bar.h
18 | | | |- library.json (optional, custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
19 | | |
20 | | |--Foo
21 | | | |- Foo.c
22 | | | |- Foo.h
23 | | |
24 | | |- readme.txt --> THIS FILE
25 | |
26 | |- platformio.ini
27 | |--src
28 | |- main.c
29 |
30 | Then in `src/main.c` you should use:
31 |
32 | #include
33 | #include
34 |
35 | // rest H/C/CPP code
36 |
37 | PlatformIO will find your libraries automatically, configure preprocessor's
38 | include paths and build them.
39 |
40 | More information about PlatformIO Library Dependency Finder
41 | - https://docs.platformio.org/page/librarymanager/ldf.html
42 |
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/platformio.ini:
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1 | [platformio]
2 | src_dir = ./mmu2-diy
3 | lib_dir = ./piolib
4 | libdeps_dir = ./piolibdeps
5 |
6 | [env:mmu]
7 | platform = atmelavr
8 | framework = arduino
9 | board = leonardo
10 | # board = megaatmega2560
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/stls/MK3 Filament Cover (CSK Design).stl:
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https://raw.githubusercontent.com/cskozlowski/mmu2/c589d8849460a2b53dc5e831579b6a80f8a699db/stls/MK3 Filament Cover (CSK Design).stl
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/stls/MMU2 Selector Cover with modified center hole.stl:
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https://raw.githubusercontent.com/cskozlowski/mmu2/c589d8849460a2b53dc5e831579b6a80f8a699db/stls/MMU2 Selector Cover with modified center hole.stl
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/stls/NEMA17 Motor Holder Offset for MMU2.stl:
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https://raw.githubusercontent.com/cskozlowski/mmu2/c589d8849460a2b53dc5e831579b6a80f8a699db/stls/NEMA17 Motor Holder Offset for MMU2.stl
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