240 lines
7.7 KiB
C++
240 lines
7.7 KiB
C++
/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*
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*/
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#include "../inc/MarlinConfig.h"
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#if EITHER(NOZZLE_CLEAN_FEATURE, NOZZLE_PARK_FEATURE)
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#include "nozzle.h"
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Nozzle nozzle;
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#include "../MarlinCore.h"
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#include "../module/motion.h"
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#if ENABLED(NOZZLE_CLEAN_FEATURE)
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/**
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* @brief Stroke clean pattern
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* @details Wipes the nozzle back and forth in a linear movement
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*
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* @param start xyz_pos_t defining the starting point
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* @param end xyz_pos_t defining the ending point
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* @param strokes number of strokes to execute
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*/
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void Nozzle::stroke(const xyz_pos_t &start, const xyz_pos_t &end, const uint8_t &strokes) {
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TERN_(NOZZLE_CLEAN_GOBACK, const xyz_pos_t oldpos = current_position);
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// Move to the starting point
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#if ENABLED(NOZZLE_CLEAN_NO_Z)
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#if ENABLED(NOZZLE_CLEAN_NO_Y)
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do_blocking_move_to_x(start.x);
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#else
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do_blocking_move_to_xy(start);
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#endif
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#else
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do_blocking_move_to(start);
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#endif
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// Start the stroke pattern
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LOOP_L_N(i, strokes >> 1) {
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#if ENABLED(NOZZLE_CLEAN_NO_Y)
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do_blocking_move_to_x(end.x);
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do_blocking_move_to_x(start.x);
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#else
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do_blocking_move_to_xy(end);
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do_blocking_move_to_xy(start);
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#endif
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}
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TERN_(NOZZLE_CLEAN_GOBACK, do_blocking_move_to(oldpos));
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}
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/**
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* @brief Zig-zag clean pattern
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* @details Apply a zig-zag cleaning pattern
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*
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* @param start xyz_pos_t defining the starting point
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* @param end xyz_pos_t defining the ending point
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* @param strokes number of strokes to execute
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* @param objects number of triangles to do
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*/
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void Nozzle::zigzag(const xyz_pos_t &start, const xyz_pos_t &end, const uint8_t &strokes, const uint8_t &objects) {
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const xy_pos_t diff = end - start;
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if (!diff.x || !diff.y) return;
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TERN_(NOZZLE_CLEAN_GOBACK, const xyz_pos_t back = current_position);
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#if ENABLED(NOZZLE_CLEAN_NO_Z)
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do_blocking_move_to_xy(start);
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#else
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do_blocking_move_to(start);
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#endif
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const uint8_t zigs = objects << 1;
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const bool horiz = ABS(diff.x) >= ABS(diff.y); // Do a horizontal wipe?
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const float P = (horiz ? diff.x : diff.y) / zigs; // Period of each zig / zag
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const xyz_pos_t *side;
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LOOP_L_N(j, strokes) {
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for (int8_t i = 0; i < zigs; i++) {
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side = (i & 1) ? &end : &start;
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if (horiz)
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do_blocking_move_to_xy(start.x + i * P, side->y);
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else
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do_blocking_move_to_xy(side->x, start.y + i * P);
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}
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for (int8_t i = zigs; i >= 0; i--) {
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side = (i & 1) ? &end : &start;
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if (horiz)
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do_blocking_move_to_xy(start.x + i * P, side->y);
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else
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do_blocking_move_to_xy(side->x, start.y + i * P);
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}
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}
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TERN_(NOZZLE_CLEAN_GOBACK, do_blocking_move_to(back));
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}
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/**
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* @brief Circular clean pattern
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* @details Apply a circular cleaning pattern
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*
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* @param start xyz_pos_t defining the middle of circle
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* @param strokes number of strokes to execute
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* @param radius radius of circle
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*/
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void Nozzle::circle(const xyz_pos_t &start, const xyz_pos_t &middle, const uint8_t &strokes, const float &radius) {
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if (strokes == 0) return;
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TERN_(NOZZLE_CLEAN_GOBACK, const xyz_pos_t back = current_position);
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TERN(NOZZLE_CLEAN_NO_Z, do_blocking_move_to_xy, do_blocking_move_to)(start);
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LOOP_L_N(s, strokes)
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LOOP_L_N(i, NOZZLE_CLEAN_CIRCLE_FN)
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do_blocking_move_to_xy(
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middle.x + sin((RADIANS(360) / NOZZLE_CLEAN_CIRCLE_FN) * i) * radius,
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middle.y + cos((RADIANS(360) / NOZZLE_CLEAN_CIRCLE_FN) * i) * radius
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);
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// Let's be safe
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do_blocking_move_to_xy(start);
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TERN_(NOZZLE_CLEAN_GOBACK, do_blocking_move_to(back));
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}
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/**
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* @brief Clean the nozzle
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* @details Starts the selected clean procedure pattern
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*
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* @param pattern one of the available patterns
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* @param argument depends on the cleaning pattern
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*/
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void Nozzle::clean(const uint8_t &pattern, const uint8_t &strokes, const float &radius, const uint8_t &objects, const uint8_t cleans) {
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xyz_pos_t start[HOTENDS] = NOZZLE_CLEAN_START_POINT, end[HOTENDS] = NOZZLE_CLEAN_END_POINT, middle[HOTENDS] = NOZZLE_CLEAN_CIRCLE_MIDDLE;
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const uint8_t arrPos = ANY(SINGLENOZZLE, MIXING_EXTRUDER) ? 0 : active_extruder;
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#if HAS_SOFTWARE_ENDSTOPS
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#define LIMIT_AXIS(A) do{ \
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LIMIT( start[arrPos].A, soft_endstop.min.A, soft_endstop.max.A); \
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LIMIT(middle[arrPos].A, soft_endstop.min.A, soft_endstop.max.A); \
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LIMIT( end[arrPos].A, soft_endstop.min.A, soft_endstop.max.A); \
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}while(0)
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if (soft_endstops_enabled) {
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LIMIT_AXIS(x);
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LIMIT_AXIS(y);
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LIMIT_AXIS(z);
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const bool radiusOutOfRange = (middle[arrPos].x + radius > soft_endstop.max.x)
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|| (middle[arrPos].x - radius < soft_endstop.min.x)
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|| (middle[arrPos].y + radius > soft_endstop.max.y)
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|| (middle[arrPos].y - radius < soft_endstop.min.y);
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if (radiusOutOfRange && pattern == 2) {
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SERIAL_ECHOLNPGM("Warning: Radius Out of Range");
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return;
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}
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}
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#endif
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if (pattern == 2) {
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if (!(cleans & (_BV(X_AXIS) | _BV(Y_AXIS)))) {
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SERIAL_ECHOLNPGM("Warning: Clean Circle requires XY");
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return;
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}
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}
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else {
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if (!TEST(cleans, X_AXIS)) start[arrPos].x = end[arrPos].x = current_position.x;
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if (!TEST(cleans, Y_AXIS)) start[arrPos].y = end[arrPos].y = current_position.y;
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}
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if (!TEST(cleans, Z_AXIS)) start[arrPos].z = end[arrPos].z = current_position.z;
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switch (pattern) {
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case 1: zigzag(start[arrPos], end[arrPos], strokes, objects); break;
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case 2: circle(start[arrPos], middle[arrPos], strokes, radius); break;
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default: stroke(start[arrPos], end[arrPos], strokes);
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}
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}
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#endif // NOZZLE_CLEAN_FEATURE
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#if ENABLED(NOZZLE_PARK_FEATURE)
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void Nozzle::park(const uint8_t z_action, const xyz_pos_t &park/*=NOZZLE_PARK_POINT*/) {
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constexpr feedRate_t fr_xy = NOZZLE_PARK_XY_FEEDRATE, fr_z = NOZZLE_PARK_Z_FEEDRATE;
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switch (z_action) {
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case 1: // Go to Z-park height
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do_blocking_move_to_z(park.z, fr_z);
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break;
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case 2: // Raise by Z-park height
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do_blocking_move_to_z(_MIN(current_position.z + park.z, Z_MAX_POS), fr_z);
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break;
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default: {
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// Apply a minimum raise, overriding G27 Z
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const float min_raised_z =_MIN(Z_MAX_POS, current_position.z
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#ifdef NOZZLE_PARK_Z_RAISE_MIN
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+ NOZZLE_PARK_Z_RAISE_MIN
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#endif
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);
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do_blocking_move_to_z(_MAX(park.z, min_raised_z), fr_z);
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} break;
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}
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do_blocking_move_to_xy(
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TERN(NOZZLE_PARK_Y_ONLY, current_position, park).x,
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TERN(NOZZLE_PARK_X_ONLY, current_position, park).y,
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fr_xy
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);
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report_current_position();
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}
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#endif // NOZZLE_PARK_FEATURE
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#endif // NOZZLE_CLEAN_FEATURE || NOZZLE_PARK_FEATURE
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