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Apply bed leveling matrix when switching extruders #2978

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Mar 6, 2016
Merged

Apply bed leveling matrix when switching extruders #2978

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21 changes: 18 additions & 3 deletions Marlin/Marlin_main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -5649,9 +5649,24 @@ inline void gcode_T(uint8_t tmp_extruder) {
delayed_move_time = 0;
}
#else // !DUAL_X_CARRIAGE
// Offset extruder (only by XY)
for (int i = X_AXIS; i <= Y_AXIS; i++)
current_position[i] += extruder_offset[i][tmp_extruder] - extruder_offset[i][active_extruder];
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
// Offset extruder, make sure to apply the bed level rotation matrix
vector_3 tmp_offset_vec = vector_3(extruder_offset[X_AXIS][tmp_extruder],
extruder_offset[Y_AXIS][tmp_extruder],
extruder_offset[Z_AXIS][tmp_extruder]),
act_offset_vec = vector_3(extruder_offset[X_AXIS][active_extruder],
extruder_offset[Y_AXIS][active_extruder],
extruder_offset[Z_AXIS][active_extruder]),
offset_vec = tmp_offset_vec - act_offset_vec;
offset_vec.apply_rotation(plan_bed_level_matrix.transpose(plan_bed_level_matrix));
current_position[X_AXIS] += offset_vec.x;
current_position[Y_AXIS] += offset_vec.y;
current_position[Z_AXIS] += offset_vec.z;
#else // !AUTO_BED_LEVELING_FEATURE
// Offset extruder (only by XY)
for (int i=X_AXIS; i<=Y_AXIS; i++)
current_position[i] += extruder_offset[i][tmp_extruder] - extruder_offset[i][active_extruder];
#endif // !AUTO_BED_LEVELING_FEATURE
// Set the new active extruder and position
active_extruder = tmp_extruder;
#endif // !DUAL_X_CARRIAGE
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