ercf_macros.cfg

###############################
# Parameters you need to adapt
###############################


[gcode_macro VAR_ERCF]
variable_timeout_pause: 72000
variable_disable_heater: 600
variable_bowden_load_length: [763, 776, 766.3, 776.5, 790.2, 762, 760, 770, 770]
variable_bowden_global_shift: -4.5
variable_bowden_speed: 90
variable_bowden_accel: 60
variable_ercf_load_length: 35
variable_ercf_unload_length: 20
variable_colorselector = [2,23,43.5,70,91,111,137,158,179]
variable_min_temp_extruder: 180
variable_extruder_eject_temp: 240
variable_servo_up_angle: 30
variable_servo_down_angle: 110
gcode:

###############################
# End of parameters you need to adapt
###############################

[respond]
default_type: command

###############################
# ERCF servo
###############################

# Push the servo down (enable the bondtech gears)
[gcode_macro SERVO_DOWN]
gcode:
    SET_SERVO SERVO=revolver ANGLE={printer["gcode_macro VAR_ERCF"].servo_down_angle}
    G4 P500
    SERVO_OFF

# Push the servo up (disable the bondtech gears)
[gcode_macro SERVO_UP]
gcode:
    SET_SERVO SERVO=revolver ANGLE={printer["gcode_macro VAR_ERCF"].servo_up_angle}
    G4 P500
    SERVO_OFF

# Turn the servo off
[gcode_macro SERVO_OFF]
gcode:
    SET_SERVO SERVO=revolver WIDTH=0

# Test the servo angle
[gcode_macro SERVO_TEST]
gcode:
    SET_SERVO SERVO=revolver ANGLE={params.VALUE|int}
    G4 P1000
    SERVO_OFF


###############################
# ERCF endstop status : IR extruder, ERCF filament, ERCF home
# 0 : open, 1 : triggered
###############################

# Display the last queried status
[gcode_macro ENDSTOPS_STATUS]
gcode:
    M118 Endstop status :
    M118 Extruder : {printer["filament_switch_sensor ir_sensor"].filament_detected}
    M118 ERCF filament : {printer.query_endstops.last_query["manual_stepper stepper_ercf_gear"]}
    M118 ERCF home : {printer.query_endstops.last_query["manual_stepper stepper_ercf_selector"]}

# Query and display the status
[gcode_macro infos]
gcode:
    QUERY_ENDSTOPS
    ENDSTOPS_STATUS

###############################
# PAUSE MACROS
# PAUSE_ERCF is called when an human intervention is needed
# use ERCF_UNLOCK to unlock the ERCF and start the manual intervention
# and use RESUME when the invention is ended to resume the current print
###############################

# Stop the delayed stop of the heater
[gcode_macro ERCF_UNLOCK]
gcode:
   M118 Resuming print
   SET_GCODE_VARIABLE MACRO=PAUSE_ERCF VARIABLE=is_paused VALUE=0
   SET_GCODE_VARIABLE MACRO=PAUSE_ERCF VARIABLE=is_changing_filament VALUE=0
   UPDATE_DELAYED_GCODE ID=disable_heater DURATION=0
   M109 S{printer["gcode_macro PAUSE_ERCF"].extruder_temp}
   RESTORE_GCODE_STATE NAME=ERCF_state

[delayed_gcode disable_heater]
gcode:
    {% if printer["gcode_macro PAUSE_ERCF"].is_paused|int != 0 %}
        M118 Disabling extruder heater
        M104 S0
    {% endif %}

# Pause the ERCF
# Save the current state and start the delayed stop of the heated
# modify the timeout of the printer acorrdingly to timeout_pause
[gcode_macro PAUSE_ERCF]
variable_is_paused: 0
variable_extruder_temp: 0
variable_is_changing_filament: 0
gcode:
    SET_GCODE_VARIABLE MACRO=PAUSE_ERCF VARIABLE=extruder_temp VALUE={printer.extruder.temperature}
    SET_GCODE_VARIABLE MACRO=PAUSE_ERCF VARIABLE=is_paused VALUE=1
    SET_IDLE_TIMEOUT TIMEOUT={printer["gcode_macro VAR_ERCF"].timeout_pause}
    UPDATE_DELAYED_GCODE ID=disable_heater DURATION={printer["gcode_macro VAR_ERCF"].disable_heater}
    M118 START PAUSE
    SAVE_GCODE_STATE NAME=ERCF_state
    {% for i in range(3) %}
        M300
    {% endfor %}
    {% if printer["gcode_macro PAUSE_ERCF"].is_changing_filament|int != 0 %}
        G91
        G1 Z-3
        RESTORE_GCODE_STATE NAME=ERCF_state
    {% endif %}
    PAUSE

############################################
# Changing tool macros
# CHANGE_TOOL_0, CHANGE_TOOL_1, ...CHANGE_TOOL_8 : Change extruder macro
# if the new extruder is different from the current extruder :
#     eject the filament if needed
#     load the new one
###########################################

[gcode_macro ACTIVATE_EXTRUDER]
rename_existing: CHANGE_TOOL
gcode:
    {% if EXTRUDER == "extruder" %}
        {% set index = '0' %}
    {% elif EXTRUDER == "extruder1" %}
        {% set index = '1' %}
    {% elif EXTRUDER == "extruder2" %}
        {% set index = '2' %}
    {% elif EXTRUDER == "extruder3" %}
        {% set index = '3' %}
    {% elif EXTRUDER == "extruder4" %}
        {% set index = '4' %}
    {% elif EXTRUDER == "extruder5" %}
        {% set index = '5' %}
    {% elif EXTRUDER == "extruder6" %}
        {% set index = '6' %}
    {% elif EXTRUDER == "extruder7" %}
        {% set index = '7' %}
    {% elif EXTRUDER == "extruder8" %}
        {% set index = '8' %}
    {% endif %}

    {% if printer["gcode_macro SELECT_TOOL"].color_selected|int != index %}
        M117 Change Tool T{index}
        G91
        SET_GCODE_VARIABLE MACRO=PAUSE_ERCF VARIABLE=is_changing_filament VALUE=1
        SAVE_GCODE_STATE NAME=ACTIVATE_EXTRUDER_state
        G1 Z3
        G90
        UT
        LT VALUE={index}
        G91
        G1 Z-3
        RESTORE_GCODE_STATE NAME=ACTIVATE_EXTRUDER_state
        G90
        SET_GCODE_VARIABLE MACRO=PAUSE_ERCF VARIABLE=is_changing_filament VALUE=0
    {% endif %}


############################################
# Unloading/Loading Macros
############################################

# Load filament from ERCF to nozzle
[gcode_macro LT]
gcode:
    {% if printer["gcode_macro PAUSE_ERCF"].is_paused|int == 0 %}
        M118 LT {params.VALUE|int} ...
        SELECT_TOOL VALUE={params.VALUE|int}
        LOAD_FILAMENT_TO_EXTRUDER VALUE={params.VALUE|int}
        LOAD_FILAMENT_IN_EXTRUDER
    {% endif %}

# Unload filament from nozzle to ERCF
[gcode_macro UT]
gcode:
    {% if printer["gcode_macro PAUSE_ERCF"].is_paused|int == 0 %}
        {% if printer["gcode_macro SELECT_TOOL"].color_selected|int != -1 %}
            M118 UT {printer["gcode_macro SELECT_TOOL"].color_selected|int} ...
            UNLOAD_FILAMENT_IN_EXTRUDER_WITH_RAMMING
            SELECT_TOOL VALUE={printer["gcode_macro SELECT_TOOL"].color_selected|int}
            UNLOAD_FILAMENT_FROM_EXTRUDER VALUE={printer["gcode_macro SELECT_TOOL"].color_selected|int}
        {% endif %}
    {% endif %}

############################################
# Select/Unselect a tool
# move the selector (if needed) to the requested tool (0-4)
############################################

# Select a tool. move the idler and then move the color selector (if needed)
[gcode_macro SELECT_TOOL]
variable_tool_selected: -1
variable_color_selected: -1
gcode:
    {% if printer["gcode_macro PAUSE_ERCF"].is_paused|int == 0 %}
        {% if printer["gcode_macro HOME_ERCF"].home != -1 %}
            M118 Select Tool {params.VALUE} ...
            SERVO_UP
            MANUAL_STEPPER STEPPER=stepper_ercf_selector MOVE={printer["gcode_macro VAR_ERCF"].colorselector[params.VALUE|int]} SPEED=100 ACCEL=200
            SET_GCODE_VARIABLE MACRO=SELECT_TOOL VARIABLE=tool_selected VALUE={params.VALUE}
            SET_GCODE_VARIABLE MACRO=SELECT_TOOL VARIABLE=color_selected VALUE={params.VALUE}
            SERVO_DOWN
            M118 Tool {params.VALUE} Enabled
        {% else %}
            M118 Could not select tool, ERCF is not homed
        {% endif %}
    {% else %}
        M118 Could not select tool, ERCF is paused
    {% endif %}

# Unselect a tool
[gcode_macro UNSELECT_TOOL]
gcode:
    {% if printer["gcode_macro PAUSE_ERCF"].is_paused|int == 0 %}
        {% if printer["gcode_macro HOME_ERCF"].home != -1 %}
            SERVO_UP
            SET_GCODE_VARIABLE MACRO=SELECT_TOOL VARIABLE=tool_selected VALUE=-1
        {% else %}
            M118 Could not unselect tool, ERCF is not homed
        {% endif %}
    {% endif %}

############################################
# Loading/Unloading part FROM/TO EXTRUDER TO/FROM NOZZLE
# During loading, if the IR sensor does not detect the filament, it tries 3 times to reinsert it
############################################

# Load the filament into the extruder
# the ERCF push the filament of 20mm and the extruder gear try to insert it into the nozzle
# if the filament is not detected by the IR, call RETRY_LOAD_FILAMENT_IN_EXTRUDER 3 times
# Call PAUSE_ERCF if the filament is not detected by the IR sensor
[gcode_macro LOAD_FILAMENT_IN_EXTRUDER]
gcode:
    {% if printer["gcode_macro PAUSE_ERCF"].is_paused|int == 0 %}
        {% if printer.extruder.temperature > printer["gcode_macro VAR_ERCF"].min_temp_extruder %}
            M118 Loading Filament...
            G91
            G92 E0
            MANUAL_STEPPER STEPPER=stepper_ercf_gear SET_POSITION=0
            MANUAL_STEPPER STEPPER=stepper_ercf_gear MOVE=35 SPEED=20 ACCEL=0 SYNC=0
            SAVE_GCODE_STATE NAME=LOAD_FILAMENT_IN_EXTRUDER_state
            G1 E35.00 F1200.0
            G4 P500
            UNSELECT_TOOL
            G1 E6.3 F300
            G1 E16 F1800
            INFOS
            {% for i in range(10) %}
                RETRY_LOAD_FILAMENT_IN_EXTRUDER
            {% endfor %}
            IS_FILAMENT_IN_EXTRUDER
            G1 E15 F1800
            G1 E16 F1393
            G1 E15 F614
            RESTORE_GCODE_STATE NAME=LOAD_FILAMENT_IN_EXTRUDER_state
            G92 E0
            G90
            M118 Load Complete
        {% else %}
            M118 Extruder too cold
            PAUSE_ERCF
        {% endif %}
    {% endif %}

# Try to reinsert the filament into the extruder
# Called when the IR sensor does not detect the filament
[gcode_macro RETRY_LOAD_FILAMENT_IN_EXTRUDER]
gcode:
    {% if printer["filament_switch_sensor ir_sensor"].filament_detected == False %}
        M118 Retry loading ....
        {% if printer["gcode_macro PAUSE_ERCF"].is_paused|int == 0 %}
            {% if printer.extruder.temperature > printer["gcode_macro VAR_ERCF"].min_temp_extruder %}
                M118 Loading Filament...
                G91
                G92 E0
                SERVO_DOWN
                MANUAL_STEPPER STEPPER=stepper_ercf_gear SET_POSITION=0
                MANUAL_STEPPER STEPPER=stepper_ercf_gear MOVE=5 SPEED=20 ACCEL=0 SYNC=0
                SAVE_GCODE_STATE NAME=RETRY_LOAD_FILAMENT_IN_EXTRUDER_state
                G1 E5.00 F1200.0
                RESTORE_GCODE_STATE NAME=RETRY_LOAD_FILAMENT_IN_EXTRUDER_state
                G4 P500
                UNSELECT_TOOL
                G92 E0
                G90
                QUERY_ENDSTOPS
            {% endif %}
        {% endif %}
    {% endif %}


# Unload the filament from the nozzle (without RAMMING !!!)
# Retract the filament from the nozzle to the out of the extruder gear
# Call PAUSE_ERCF if the IR sensor detects the filament after the ejection
[gcode_macro UNLOAD_FILAMENT_IN_EXTRUDER]
gcode:
    {% if printer["gcode_macro PAUSE_ERCF"].is_paused|int == 0 %}
        {% if printer.extruder.temperature > printer["gcode_macro VAR_ERCF"].min_temp_extruder %}
            {% if printer["gcode_macro SELECT_TOOL"].tool_selected|int == -1 %}
                M118 Unloading Filament...
                G91
                SAVE_GCODE_STATE NAME=UNLOAD_FILAMENT_IN_EXTRUDER_state
                G1 E-45 F3000
                RESTORE_GCODE_STATE NAME=UNLOAD_FILAMENT_IN_EXTRUDER_state
                G90
                G92 E0
                INFOS
                {% for i in range(3) %}
                    RETRY_UNLOAD_FILAMENT_IN_EXTRUDER       
                {% endfor %}
                IS_FILAMENT_STUCK_IN_EXTRUDER
                M118 Filament removed
            {% else %}
                M118 Tool selected, UNSELECT it
                PAUSE_ERCF
            {% endif %}
        {% else %}
            M118 Extruder too cold
            PAUSE_ERCF
        {% endif %}
    {% endif %}

# Retry unload, try correct misalignement of bondtech gear
[gcode_macro RETRY_UNLOAD_FILAMENT_IN_EXTRUDER]
gcode:
    {% if printer["filament_switch_sensor ir_sensor"].filament_detected == True %}
        M118 Retry unloading ....
        {% if printer["gcode_macro PAUSE_ERCF"].is_paused|int == 0 %}
            {% if printer.extruder.temperature > printer["gcode_macro VAR_ERCF"].min_temp_extruder %}
                M118 Unloading Filament...
                G91
                SAVE_GCODE_STATE NAME=RETRY_UNLOAD_FILAMENT_IN_EXTRUDER_state
                G1 E-45 F3000
                RESTORE_GCODE_STATE NAME=RETRY_UNLOAD_FILAMENT_IN_EXTRUDER_state
                G90
                G92 E0
            {% endif %}
        {% endif %}
    {% endif %}

# Ramming process for ABS+
[gcode_macro RAMMING_SLICER]
gcode:
    G91
    G92 E0
    G1 E-9.05 F1200
    G1 E0.68 F165
    G1 E0.70 F168
    G1 E0.73 F177
    G1 E0.78 F189
    G1 E0.82 F197
    G1 E0.84 F204
    G1 E0.90 F216
    G1 E0.97 F234
    G1 E1.02 F246
    G1 E1.04 F250
    G1 E-15.00 F6000.0
    G1 E-24.50 F5400.0
    G1 E-7.00 F2700.0
    G1 E-3.50 F1620.0
    G1 E20.00 F900.0
    G1 E-13 F500.0
    G1 E13 F400.0
    G1 E-11 F500.0
    G1 E11 F400.0
    G1 E-2.00 F50.0
    G1 E-4.00 F1200.0
    G1 E-10.00 F2000
    G92 E0

# Unload from extruder with ramming
[gcode_macro UNLOAD_FILAMENT_IN_EXTRUDER_WITH_RAMMING]
gcode:
    {% if printer["gcode_macro PAUSE_ERCF"].is_paused|int == 0 %}
        {% if printer.extruder.temperature > printer["gcode_macro VAR_ERCF"].min_temp_extruder %}
            {% if printer["gcode_macro SELECT_TOOL"].tool_selected|int == -1 %}
                M118 Ramming and Unloading Filament...
                G91
                RAMMING_SLICER
                UNLOAD_FILAMENT_IN_EXTRUDER
                M118 Filament rammed and removed
            {% else %}
                M118 Tool selected, UNSELECT it
                PAUSE_ERCF
            {% endif %}
        {% else %}
            M118 Extruder too cold
            PAUSE_ERCF
        {% endif %}
    {% endif %}

############################################
# Loading/Unloading MACROS from ERCF to the enter of the extruder gear
############################################

# Load filament until the ERCF detects it and pushes it 10mm more to be sure it's well detected
# PAUSE_ERCF is called if the ERCF does not detect the filament
[gcode_macro LOAD_FILAMENT_TO_ERCF]
gcode:
    {% if printer["gcode_macro PAUSE_ERCF"].is_paused|int == 0 %}
        {% if printer["gcode_macro SELECT_TOOL"].tool_selected|int != -1 %}
            M118 Loading filament to ERCF...
            MANUAL_STEPPER STEPPER=stepper_ercf_gear SET_POSITION=0
            MANUAL_STEPPER STEPPER=stepper_ercf_gear MOVE={printer["gcode_macro VAR_ERCF"].ercf_load_length} SPEED=40 ACCEL=20 STOP_ON_ENDSTOP=2
            MANUAL_STEPPER STEPPER=stepper_ercf_gear SET_POSITION=0
            MANUAL_STEPPER STEPPER=stepper_ercf_gear MOVE=60 SPEED=50 ACCEL=50
            IS_FILAMENT_IN_ERCF
            M118 Loading done to ERCF
        {% else %}
            M118 Cannot load to ERCF, tool not selected !!
        {% endif %}
    {% endif %}

# Load from the ERCF to the extruder gear
[gcode_macro LOAD_FILAMENT_FROM_ERCF_TO_EXTRUDER]
gcode:
    {% if printer["gcode_macro PAUSE_ERCF"].is_paused|int == 0 %}
        {% if printer["gcode_macro SELECT_TOOL"].tool_selected|int != -1 %}
            M118 Loading filament from ERCF to extruder ...
            MANUAL_STEPPER STEPPER=stepper_ercf_gear SET_POSITION=0
            MANUAL_STEPPER STEPPER=stepper_ercf_gear MOVE={printer["gcode_macro VAR_ERCF"].bowden_load_length[params.VALUE|int] + printer["gcode_macro VAR_ERCF"].bowden_global_shift} SPEED={printer["gcode_macro VAR_ERCF"].bowden_speed} ACCEL={printer["gcode_macro VAR_ERCF"].bowden_accel}
            MANUAL_STEPPER STEPPER=stepper_ercf_gear SET_POSITION=0
            M118 Loading done from ERCF to extruder
        {% else %}
            M118 Cannot load to extruder, tool not selected !!
        {% endif %}
    {% endif %}

# Load from ERCF to extruder gear by calling LOAD_FILAMENT_TO_ERCF and next LOAD_FILAMENT_FROM_ERCF_TO_EXTRUDER
# PAUSE_ERCF is called if the ERCF does not detect the filament
[gcode_macro LOAD_FILAMENT_TO_EXTRUDER]
gcode:
    {% if printer["gcode_macro PAUSE_ERCF"].is_paused|int == 0 %}
        {% if printer["gcode_macro SELECT_TOOL"].tool_selected|int != -1 %}
            M118 Loading filament from ERCF to extruder ...
            LOAD_FILAMENT_TO_ERCF
            LOAD_FILAMENT_FROM_ERCF_TO_EXTRUDER VALUE={params.VALUE|int}
        {% else %}
            M118 Cannot load to extruder, tool not selected !!
        {% endif %}
    {% endif %}

# Unload filament until the ERCF stops detecting it and then pushes it more to ensure filament is not in the selector anymore (but still in the gears)
# PAUSE_ERCF is called if the ERCF does detect the filament after this procedure
[gcode_macro UNLOAD_FILAMENT_FROM_ERCF]
gcode:
    {% if printer["gcode_macro PAUSE_ERCF"].is_paused|int == 0 %}
        {% if printer["gcode_macro SELECT_TOOL"].tool_selected|int != -1 %}
            M118 Unloading filament from ERCF...
            MANUAL_STEPPER STEPPER=stepper_ercf_gear SET_POSITION=0
            MANUAL_STEPPER STEPPER=stepper_ercf_gear MOVE=-90 SPEED=40 ACCEL=25 STOP_ON_ENDSTOP=-2
            MANUAL_STEPPER STEPPER=stepper_ercf_gear SET_POSITION=0
            MANUAL_STEPPER STEPPER=stepper_ercf_gear MOVE=-{printer["gcode_macro VAR_ERCF"].ercf_unload_length} SPEED=40 ACCEL=35
            MANUAL_STEPPER STEPPER=stepper_ercf_gear SET_POSITION=0
            IS_FILAMENT_STUCK_IN_ERCF
            SET_GCODE_VARIABLE MACRO=SELECT_TOOL VARIABLE=color_selected VALUE=-1
            M118 Unloading done from ERCF
        {% else %}
            M118 Cannot unload from ERCF, tool not selected !!
        {% endif %}
    {% else %}
        M118 Cannot unload from ERCF, ERCF is paused !!
    {% endif %}

# Unload from extruder gear to the ERCF
[gcode_macro UNLOAD_FILAMENT_FROM_EXTRUDER_TO_ERCF]
gcode:
    {% if printer["gcode_macro PAUSE_ERCF"].is_paused|int == 0 %}
        {% if printer["gcode_macro SELECT_TOOL"].tool_selected|int != -1 %}
            M118 Unloading filament from extruder to ERCF...
            MANUAL_STEPPER STEPPER=stepper_ercf_gear SET_POSITION=0
            MANUAL_STEPPER STEPPER=stepper_ercf_gear MOVE=-{printer["gcode_macro VAR_ERCF"].bowden_load_length[params.VALUE|int] + 10} SPEED={printer["gcode_macro VAR_ERCF"].bowden_speed} ACCEL={printer["gcode_macro VAR_ERCF"].bowden_accel} 
            MANUAL_STEPPER STEPPER=stepper_ercf_gear SET_POSITION=0
            M118 Unloading done from ERCF to extruder
        {% else %}
            M118 Cannot unload from extruder to ERCF, tool not selected !!
        {% endif %}
    {% endif %}

# Unload from the extruder gear to the ERCF by calling UNLOAD_FILAMENT_FROM_EXTRUDER_TO_ERCF and next UNLOAD_FILAMENT_FROM_ERCF
[gcode_macro UNLOAD_FILAMENT_FROM_EXTRUDER]
gcode:
    {% if printer["gcode_macro PAUSE_ERCF"].is_paused|int == 0 %}
        {% if printer["gcode_macro SELECT_TOOL"].tool_selected|int != -1 %}
            M118 Unloading filament from extruder to ERCF...
            G91
            G92 E0
            MANUAL_STEPPER STEPPER=stepper_ercf_gear SET_POSITION=0
            MANUAL_STEPPER STEPPER=stepper_ercf_gear MOVE=-30 SPEED=20 ACCEL=0 SYNC=0
            SAVE_GCODE_STATE NAME=UNLOAD_FILAMENT_FROM_EXTRUDER_state
            G1 E-30.00 F1200.0
            RESTORE_GCODE_STATE NAME=UNLOAD_FILAMENT_FROM_EXTRUDER_state
            G4 P500
            UNLOAD_FILAMENT_FROM_EXTRUDER_TO_ERCF VALUE={params.VALUE|int}
            UNLOAD_FILAMENT_FROM_ERCF
            M118 Unloading done from extruder to ERCF
        {% else %}
            M118 Cannot unload from extruder to ERCF, tool not selected !!
        {% endif %}
    {% endif %}

############################################
# Endstop check macros
# Verify the state of the ERCF or the IR sensor
############################################

# Call PAUSE_ERCF if the filament is not detected by the IR sensor
[gcode_macro IS_FILAMENT_IN_EXTRUDER]
gcode:
    {% if printer["filament_switch_sensor ir_sensor"].filament_detected == True %}
        M118 Filament in extruder
    {% else %}
        M118 Filament not in extruder
        PAUSE_ERCF
    {% endif %}

# Call PAUSE_ERCF if the filament is not detected by the ERCF
[gcode_macro IS_FILAMENT_IN_ERCF]
gcode:
    QUERY_ENDSTOPS
    IS_IN_ERCF

[gcode_macro IS_IN_ERCF]
gcode:
    {% if printer.query_endstops.last_query["manual_stepper stepper_ercf_gear"] == 1 %}
        M118 Filament in ERCF
    {% else %}
        M118 Filament not in ERCF
        PAUSE_ERCF
    {% endif %}


# Call PAUSE_ERCF if the filament is detected by the IR sensor
[gcode_macro IS_FILAMENT_STUCK_IN_EXTRUDER]
gcode:
    {% if printer["filament_switch_sensor ir_sensor"].filament_detected == True %}
        M118 Filament stuck in extruder
        PAUSE_ERCF
    {% else %}
        M118 Filament not in extruder
    {% endif %}

# Call PAUSE_ERCF if the filament is detected by the ERCF
[gcode_macro IS_FILAMENT_STUCK_IN_ERCF]
gcode:
     QUERY_ENDSTOPS
     IS_STUCK_IN_ERCF

[gcode_macro IS_STUCK_IN_ERCF]
gcode:
    {% if printer.query_endstops.last_query["manual_stepper stepper_ercf_gear"] == 1 %}
        M118 Filament stuck in ERCF
        PAUSE_ERCF
    {% else %}
        M118 Filament not in ERCF
    {% endif %}

############################################
# Macros called during homing to try to eject the filament if loaded
############################################

# Preheat the heater if needed and unload the filament with ramming
# eject from nozzle to extruder gear out
[gcode_macro EJECT_FROM_EXTRUDER]
gcode:
    {% if printer["gcode_macro PAUSE_ERCF"].is_paused|int == 0 %}
        {% if printer["filament_switch_sensor ir_sensor"].filament_detected == True %}
            M118 Filament in extruder, trying to eject it ..
            M118 Preheat Nozzle
            M109 S{printer["gcode_macro VAR_ERCF"].extruder_eject_temp}
            UNLOAD_FILAMENT_IN_EXTRUDER_WITH_RAMMING
            M104 S0
        {% else %}
            M118 Filament not in extruder
        {% endif %}
    {% endif %}

# Eject from extruder gear to ERCF
[gcode_macro EJECT_BEFORE_HOME]
gcode:
    M118 Eject Filament if loaded ...
    {% if printer["filament_switch_sensor ir_sensor"].filament_detected == True %}
        EJECT_FROM_EXTRUDER
        IS_FILAMENT_STUCK_IN_EXTRUDER
    {% endif %}
    {% if printer.query_endstops.last_query["manual_stepper stepper_ercf_gear"] == 1 %}
        SET_GCODE_VARIABLE MACRO=SELECT_TOOL VARIABLE=tool_selected VALUE=0
        SERVO_DOWN
        UNLOAD_FILAMENT_FROM_EXTRUDER value=0
        IS_FILAMENT_STUCK_IN_ERCF
        M118 Filament ejected !
    {% else %}
        M118 Filament already ejected !
    {% endif %}

############################################
# Homing macros
# HOME_ERCF must be called before using the ERCF
############################################

# Home the ERCF
# eject filament if loaded with EJECT_BEFORE_HOME
# next home the ERCF with HOME_ERCF_ONLY
[gcode_macro HOME_ERCF]
variable_home: -1
gcode:
    M118 Homing ERCF ...
    {% if "z" not in printer.toolhead.homed_axes %} ; Home if needed
        G28
    {% endif %}
    
    SET_FILAMENT_SENSOR SENSOR=ir_sensor ENABLE=0
    SET_GCODE_VARIABLE MACRO=HOME_ERCF VARIABLE=home VALUE=0    # as not homed yet, shouldn't this be 0?
    QUERY_ENDSTOPS
    EJECT_BEFORE_HOME
    HOME_ERCF_ONLY

# Home the ERCF:
# 1) home the color selector (if needed)
# 2) try to load filament 0 to ERCF and then unload it. Used to verify the ERCF gear
# if all is ok, the ERCF is ready to be used
[gcode_macro HOME_ERCF_ONLY]
gcode:
    {% if printer["gcode_macro PAUSE_ERCF"].is_paused|int == 0 %}
        M118 Homing selector
        SERVO_UP
        MANUAL_STEPPER STEPPER=stepper_ercf_selector SET_POSITION=0
        MANUAL_STEPPER STEPPER=stepper_ercf_selector MOVE=-190 STOP_ON_ENDSTOP=1
        MANUAL_STEPPER STEPPER=stepper_ercf_selector SET_POSITION=0
        SET_GCODE_VARIABLE MACRO=SELECT_TOOL VARIABLE=tool_selected VALUE=-1
        SET_GCODE_VARIABLE MACRO=SELECT_TOOL VARIABLE=color_selected VALUE=-1
        M118 Test load filament 1
        SELECT_TOOL VALUE=0
        LOAD_FILAMENT_TO_ERCF
        G4 P500
        UNLOAD_FILAMENT_FROM_ERCF
        UNSELECT_TOOL
        SET_GCODE_VARIABLE MACRO=HOME_ERCF VARIABLE=home VALUE=1
        M118 Homing ERCF ended ...
    {% else %}
        M118 Homing ERCF failed, ERCF is paused, unlock it ...
    {% endif %}

###############################################
# Test and Calibration Macros
###############################################

[gcode_macro MOVE_GEAR_REL]
gcode:
    MANUAL_STEPPER STEPPER=stepper_ercf_gear SET_POSITION=0
    MANUAL_STEPPER STEPPER=stepper_ercf_gear MOVE={params.VALUE|int}

[gcode_macro MOVE_GEAR_ABS]
gcode:
    MANUAL_STEPPER STEPPER=stepper_ercf_gear MOVE={params.VALUE|int} SPEED=90 ACCEL=40

    
[gcode_macro CALIB_START]
gcode:
    {% if printer["gcode_macro PAUSE_ERCF"].is_paused|int == 0 %}
        UNLOAD_FILAMENT_FROM_ERCF
        SELECT_TOOL VALUE={params.CHANNEL|int}
        LOAD_FILAMENT_TO_ERCF
        MANUAL_STEPPER STEPPER=stepper_ercf_gear SET_POSITION=0
        MANUAL_STEPPER STEPPER=stepper_ercf_gear MOVE={printer["gcode_macro VAR_ERCF"].bowden_load_length[params.CHANNEL|int]} SPEED=90 ACCEL=40
    {% else %}
        M118 Cannot run calibration, ERCF is paused !!
    {% endif %}