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Prusa-Firmware-MMU
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Slow unload move at the start of pulling

pull/353/head
D.R.racer 2025-11-19 12:39:32 +01:00
parent 0bb8877063
commit 3bf5a1a0dc
2 changed files with 4 additions and 0 deletions
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1
src/config/config.h
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@ -104,6 +104,7 @@ static constexpr U_mm pulleyHelperMove = 10.0_mm; ///< Helper move for Load/Unlo
static constexpr U_mm cutLength = 8.0_mm; static constexpr U_mm cutLength = 8.0_mm;
static constexpr U_mm fsensorToNozzle = 30.0_mm; ///< ~20mm from MK4's filament sensor through extruder gears into nozzle static constexpr U_mm fsensorToNozzle = 30.0_mm; ///< ~20mm from MK4's filament sensor through extruder gears into nozzle
static constexpr U_mm fsensorToNozzleAvoidGrind = 5.0_mm; static constexpr U_mm fsensorToNozzleAvoidGrind = 5.0_mm;
static constexpr U_mm fsensorToNozzleAvoidGrindUnload = 20.0_mm;
/// Check the state of FSensor after this amount of filament got (hopefully) pulled out while unloading. /// Check the state of FSensor after this amount of filament got (hopefully) pulled out while unloading.
static constexpr U_mm fsensorUnloadCheckDistance = 40.0_mm; static constexpr U_mm fsensorUnloadCheckDistance = 40.0_mm;

3
src/logic/unload_to_finda.cpp
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@ -48,6 +48,9 @@ bool UnloadToFinda::Step() {
mpu::pulley.InitAxis(); mpu::pulley.InitAxis();
ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::blink0); ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::blink0);
mi::idler.Engage(mg::globals.ActiveSlot()); mi::idler.Engage(mg::globals.ActiveSlot());
// slow move for the first few millimeters - help the printer relieve the filament while engaging the Idler fully
mpu::pulley.PlanMove(-config::fsensorToNozzleAvoidGrindUnload, mg::globals.PulleySlowFeedrate_mm_s(), mg::globals.PulleySlowFeedrate_mm_s());
} else { } else {
state = FailedFINDA; state = FailedFINDA;
} }