ercf_software.cfg

###############################
# ERCF module
###############################

[ercf]
# Encoder 
encoder_pin: ^ercf:PA6
encoder_resolution: 1.380072 # in mm
# Speeds and accels
# Long moves are faster than the small ones
# 100mm/s should be "quiet" with the NEMA14 motor or a NEMA17 pancake, but you can go lower if your really want it to be low noise
# Tested without any issue at 200mm/s, but it's noisy. I'm running mine at 170mm/s
long_moves_speed: 100 # mm/s. Default value is 100mm/s. 
long_moves_accel: 400 # mm/s². Default value is 400mm/s² 
short_moves_speed: 25 # mm/s. Default value is 25mm/s.
short_moves_accel: 400 # mm/s². Default value is 400mm/s²

[gcode_macro ERCF_VAR]
# =======================================================
# ================== VALUES TO ADJUST ===================
# =======================================================
#
# ==== Toolhead specific values ====
#
# Distance between the end of the reverse bowden and the toolhead sensor. Value is toolhead specific.
# Tested values :
# Galileo Clockwork with ERCF V1.1 sensor (hall effect) : 35.0                                                  
variable_end_of_bowden_to_sensor: 27.0
# Length from the sensor to the nozzle melt pool.
# Reduce this value if there are blobs of filament on each load, before the purge on the tower.
# Increase this value if there are big gaps on the purge tower (i.e. if it takes time for the filament to get pushed out after a swap)
# Tested values :
# Dragon Normal Flow : 60.5
variable_sensor_to_nozzle: 60.5  
#
# ==== Values to tune ====         
#
# Tool position for the selector. This has to be tuned manually. Please scale this array to the number of tools you have
variable_colorselector = [1.1, 21.6, 42.4, 70.4, 92.0, 112.0] #, 139.2, 160.8, 181.6]
# Base value for the loading length used by the auto-calibration macro
# Please use a value SMALLER than the real reverse bowden length (like 50mm less)
variable_min_bowden_length: 710.0
# Servo angle for the Up position (i.e. tool disengaged). Refer to the manual to know how to properly tune this value
# Default values:
# MG90S servo : 30
# SAVOX SH0255MG : 140
variable_servo_up_angle: 20
# Servo angle for the Down position (i.e. tool engaged). Refer to the manual to know how to properly tune this value
# Default values:
# MG90S servo : 140
# SAVOX SH0255MG : 30
variable_servo_down_angle: 110
# Options to use or not 
# Beware that the clog detection and endless spool mode are in BETA mode for now
# Use at your own risk (beware of the involved macros and the pause(s) and resume ones)
# Put 0 to disable, 1 to enable
variable_clog_detection: 0
variable_endless_spool_mode: 0
# =======================================================
# ============ END OF VALUES TO ADJUST ==================
# =======================================================
# You shouldn't have to change anything below this point

# Things that you shouldn't have to change
variable_unload_modifier: 9.0                                                               # Modifier to adjust the ERCF park position (where the filament ends when doing an unload)
variable_min_temp_extruder: 180                                                             # Temp used during the auto-calibration macro, to ensure we can move the extruder (but not really extruding)
variable_extruder_eject_temp: 240                                                           # Temp used during filament ejection (in the ERCF_HOME macro, if a filament is detected in the toolhead)
variable_timeout_pause: 72000                                                               # Time out used by the ERCF_PAUSE
variable_disable_heater: 600                                                                # Delay after which the hotend heater is disabled in the ERCF_PAUSE state
gcode:

[save_variables]
filename: /home/pi/klipper_config/ercf_vars.cfg

###############################
# ERCF Calibration macros
###############################
[gcode_macro ERCF_CALIB_SELECTOR]
gcode:
    ERCF_SERVO_UP

    {% set move_length=(20.0 + (params.TOOL|int + 1)*21.0 + ((params.TOOL|int + 1)/3)*5.0) %}

    M118 Measuring the selector position for tool {params.TOOL}
    ERCF_GET_SELECTOR_POS REF={move_length|int}
    
    ERCF_MOTORS_OFF

[gcode_macro ERCF_CALIBRATE]
gcode:
    SET_FILAMENT_SENSOR SENSOR=encoder_sensor ENABLE=0
	M118 Start the complete auto calibration...
    M118 First home the ERCF
	ERCF_HOME

	{% for chan in range(printer["gcode_macro ERCF_VAR"].colorselector|length) %}
		ERCF_CALIBRATE_SINGLE TOOL={chan|int}
	{% endfor %}

	M118 End of the complete auto calibration!
    M118 Please reload the firmware for the calibration to be active!

[gcode_macro ERCF_CALIBRATE_SINGLE]
gcode:
    SET_FILAMENT_SENSOR SENSOR=encoder_sensor ENABLE=0
	{% if params.TOOL|int >= 0 and params.TOOL|int < printer["gcode_macro ERCF_VAR"].colorselector|length %}
		{% if printer["gcode_macro ERCF_HOME"].home == -1 %}
			M118 First home the ERCF
			ERCF_HOME
		{% endif %}

        ERCF_SELECT_TOOL TOOL={params.TOOL}
        ERCF_SET_STEPS RATIO=1.0

        {% if params.TOOL|int == 0 %}
            {% if printer['extruder'].temperature < printer["gcode_macro ERCF_VAR"].min_temp_extruder %}
	            M109 S{printer["gcode_macro ERCF_VAR"].min_temp_extruder|int}
            {% endif %}

            M118 Calibrating reference tool {params.TOOL}
            ERCF_LOAD LENGTH={printer["gcode_macro ERCF_VAR"].min_bowden_length}
            ERCF_HOME_EXTRUDER TOTAL_LENGTH=400 STEP_LENGTH=0.5
            
            ERCF_CALIB_SAVE_VAR TOOL={params.TOOL}

            G91
            G92 E0
            MANUAL_STEPPER STEPPER=gear_stepper SET_POSITION=0
            MANUAL_STEPPER STEPPER=gear_stepper MOVE=-{printer["gcode_macro ERCF_VAR"].end_of_bowden_to_sensor|float} SPEED=25 ACCEL=0 SYNC=0
            G1 E-{printer["gcode_macro ERCF_VAR"].end_of_bowden_to_sensor|float} F1500.0

            ERCF_CALIB_UNLOAD
            
            ERCF_BUZZ_GEAR_MOTOR
            ERCF_IS_FILAMENT_STUCK_IN_ERCF
            
            ERCF_UNSELECT_TOOL
        {% else %}
            M118 Calibrating tool {params.TOOL}

            ERCF_LOAD LENGTH={printer["gcode_macro ERCF_VAR"].min_bowden_length|float - 100.0}
            ERCF_CALIB_SAVE_VAR tool={params.TOOL}

            ERCF_CALIB_UNLOAD LENGTH={printer["gcode_macro ERCF_VAR"].min_bowden_length|float - 100.0 + 27.0}
        {% endif %}

	{% else %}
		M118 Tool out of range
	{% endif %}

[gcode_macro ERCF_CALIB_SAVE_VAR]
gcode:
    {% if params.TOOL|int == 0 %}
        M118 Tool {params.TOOL} calibration value is {printer['ercf'].encoder_pos|float}
        SAVE_VARIABLE VARIABLE=ercf_calib_ref VALUE={printer['ercf'].encoder_pos|float} # this is the reference value
        SAVE_VARIABLE VARIABLE=ercf_calib_{params.TOOL|int} VALUE=1.0
        SET_GCODE_VARIABLE MACRO=ERCF_CALIB_UNLOAD VARIABLE=ref VALUE={printer['ercf'].encoder_pos|float}
        SET_GCODE_VARIABLE MACRO=ERCF_CALIB_UNLOAD VARIABLE=ratio VALUE=1.0
    {% else %}
        {% set ratio = (printer["gcode_macro ERCF_VAR"].min_bowden_length|float - 100.0) / printer['ercf'].encoder_pos|float %}
        M118 Tool {params.TOOL} ratio is {ratio|float}
        SAVE_VARIABLE VARIABLE=ercf_calib_{params.TOOL|int} VALUE={ratio|float}
        SET_GCODE_VARIABLE MACRO=ERCF_CALIB_UNLOAD VARIABLE=ratio VALUE={ratio|float}
    {% endif %}

[gcode_macro ERCF_CALIB_UNLOAD]
variable_ratio: 0.0
variable_ref: 0.0
default_parameter_LENGTH: 0.0
gcode:
    {% if LENGTH|float == 0.0 %}
        ERCF_UNLOAD LENGTH={(ref|float)*(ratio|float) - printer["gcode_macro ERCF_VAR"].end_of_bowden_to_sensor|float + 27.0}
    {% else %}
        {% if ratio|float < 1.0 %} # No correction move is done in case of "over targeting", hence the correction ratio is not applied during this unload sequence
            ERCF_UNLOAD LENGTH={(LENGTH|float)}
        {% else %}
            ERCF_UNLOAD LENGTH={(LENGTH|float)*(ratio|float)}
        {% endif %}
    {% endif %}

[respond]
default_type: command

###############################
# ERCF servo
###############################
# Push the top hat down (enable the bondtech gears) while "buzzing" the gear motor to ensure proper BMG gear meshing
[gcode_macro ERCF_SERVO_DOWN]
gcode:
    MANUAL_STEPPER STEPPER=gear_stepper SET_POSITION=0
    MANUAL_STEPPER STEPPER=gear_stepper MOVE=0.5 SPEED=25 ACCEL=0 SYNC=0
    SET_SERVO SERVO=ercf_servo ANGLE={printer["gcode_macro ERCF_VAR"].servo_down_angle}
    G4 P300
    MANUAL_STEPPER STEPPER=gear_stepper MOVE=0.0 SPEED=25 ACCEL=0 SYNC=0
    G4 P100
    MANUAL_STEPPER STEPPER=gear_stepper MOVE=-0.5 SPEED=25 ACCEL=0 SYNC=0
    G4 P300
    MANUAL_STEPPER STEPPER=gear_stepper MOVE=0.0 SPEED=25 ACCEL=0
    SET_SERVO SERVO=ercf_servo WIDTH=0.0

# Pull the top hat up (disengage the bondtech gears)
[gcode_macro ERCF_SERVO_UP]
gcode:
    SET_SERVO SERVO=ercf_servo ANGLE={printer["gcode_macro ERCF_VAR"].servo_up_angle}
    G4 P250
    SET_SERVO SERVO=ercf_servo WIDTH=0.0

###############################
# ERCF motors
###############################
[gcode_macro ERCF_MOTORS_ON]
gcode:
    MANUAL_STEPPER STEPPER=gear_stepper ENABLE=1
    MANUAL_STEPPER STEPPER=selector_stepper ENABLE=1

[gcode_macro ERCF_MOTORS_OFF]
gcode:
    MANUAL_STEPPER STEPPER=gear_stepper ENABLE=0
    MANUAL_STEPPER STEPPER=selector_stepper ENABLE=0
    

###############################
# ERCF endstop status 
###############################
# Display the last queried status
[gcode_macro ERCF_ENDSTOPS_STATUS]
gcode:
    M118 Endstops status :
    M118 Extruder : {printer.query_endstops.last_query["manual_stepper gear_stepper"]}
    M118 ERCF home : {printer.query_endstops.last_query["manual_stepper selector_stepper"]}

# Query and display the status
[gcode_macro ERCF_INFO]
gcode:
    QUERY_ENDSTOPS
    ERCF_ENDSTOPS_STATUS

###############################
# PAUSE MACROS
# ERCF_PAUSE is called when an human intervention is needed
# use ERCF_UNLOCK to start the manual intervention
# and use RESUME when the intervention is over to resume the current print
###############################

# Stop the delayed stop of the heater
[gcode_macro ERCF_UNLOCK]
gcode:
   M118 Unlock the ERCF
   SET_GCODE_VARIABLE MACRO=ERCF_PAUSE VARIABLE=is_paused VALUE=0
   SET_GCODE_VARIABLE MACRO=ERCF_PAUSE VARIABLE=is_changing_filament VALUE=0
   UPDATE_DELAYED_GCODE ID=disable_heater DURATION=0
   ERCF_UNSELECT_TOOL
   M104 S{printer["gcode_macro ERCF_PAUSE"].extruder_temp}
   RESTORE_GCODE_STATE NAME=ERCF_state
   M118 Refer to the manual before resuming the print

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

# Pause the ERCF, park the extruder at the parking position
# Save the current state and start the delayed stop of the heated
# modify the timeout of the printer accordingly to timeout_pause
[gcode_macro ERCF_PAUSE]
variable_is_paused: 0
variable_extruder_temp: 0
variable_is_changing_filament: 0
gcode:
    SET_GCODE_VARIABLE MACRO=ERCF_PAUSE VARIABLE=extruder_temp VALUE={printer.extruder.target}
    SET_GCODE_VARIABLE MACRO=ERCF_PAUSE VARIABLE=is_paused VALUE=1
    SET_IDLE_TIMEOUT TIMEOUT={printer["gcode_macro ERCF_VAR"].timeout_pause}
    UPDATE_DELAYED_GCODE ID=disable_heater DURATION={printer["gcode_macro ERCF_VAR"].disable_heater}
    M118 An issue with the ERCF has been detected and the ERCF has been PAUSED
    M118 When you intervene to fix the issue, first call the "ERCF_UNLOCK" Gcode
    M118 Refer to the manual before resuming the print
    SAVE_GCODE_STATE NAME=ERCF_state
    SET_FILAMENT_SENSOR SENSOR=encoder_sensor ENABLE=0
    {% if printer["gcode_macro ERCF_PAUSE"].is_changing_filament|int != 0 %}
         G91
         G1 Z-3
         G90
    {% endif %}
    PAUSE

############################################
# Changing tool macros
# ERCF_CHANGE_TOOL_STANDALONE TOOL=XX to change filament outside of a print
# ERCF_CHANGE_TOOL_SUSIE TOOL=XX will be called automatically (from the ACTIVATE_EXTRUDER gcode from SuperSlicer), don't use that for "manual" filament swap
# 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" %}
        ERCF_CHANGE_TOOL_SUSIE TOOL=0
    {% elif EXTRUDER == "extruder1" %}
        ERCF_CHANGE_TOOL_SUSIE TOOL=1
    {% elif EXTRUDER == "extruder2" %}
        ERCF_CHANGE_TOOL_SUSIE TOOL=2
    {% elif EXTRUDER == "extruder3" %}
        ERCF_CHANGE_TOOL_SUSIE TOOL=3
    {% elif EXTRUDER == "extruder4" %}
        ERCF_CHANGE_TOOL_SUSIE TOOL=4
    {% elif EXTRUDER == "extruder5" %}
        ERCF_CHANGE_TOOL_SUSIE TOOL=5
    {% elif EXTRUDER == "extruder6" %}
        ERCF_CHANGE_TOOL_SUSIE TOOL=6
    {% elif EXTRUDER == "extruder7" %}
        ERCF_CHANGE_TOOL_SUSIE TOOL=7
    {% elif EXTRUDER == "extruder8" %}
        ERCF_CHANGE_TOOL_SUSIE TOOL=8
    {% endif %}

[gcode_macro ERCF_CHANGE_TOOL_SUSIE]
gcode:
    SET_FILAMENT_SENSOR SENSOR=encoder_sensor ENABLE=0
    {% if printer["gcode_macro ERCF_SELECT_TOOL"].color_selected|int != params.TOOL|int %}   
        # Add a variable 'SwapCounter' in your PRINT_START macro to display this info
        # {% set newcounter = (printer["gcode_macro PRINT_START"].swapcounter|int + 1) %}
        # SET_GCODE_VARIABLE MACRO=PRINT_START VARIABLE=swapcounter VALUE={newcounter}
        # M118 Swap {newcounter|int}
        M117 Change Tool T{params.TOOL|int}
        G91
        SET_GCODE_VARIABLE MACRO=ERCF_PAUSE VARIABLE=is_changing_filament VALUE=1
        G1 Z3
        G90
        ERCF_UNLOAD_TOOL
        ERCF_LOAD_TOOL TOOL={params.TOOL|int}
        G91
        G1 Z-3
        G90
        SET_GCODE_VARIABLE MACRO=ERCF_PAUSE VARIABLE=is_changing_filament VALUE=0  
        ERCF_CHANGE_TOOL_SUSIE_END
    {% endif %}
    
[gcode_macro ERCF_CHANGE_TOOL_SUSIE_END]
gcode:
        {% if printer["gcode_macro ERCF_PAUSE"].is_paused|int == 0 %}
            {% if printer["gcode_macro PRINT_START"].clog_detection|int == 1 %}
                SET_FILAMENT_SENSOR SENSOR=encoder_sensor ENABLE=1
            {% endif %}
        {% endif %}

[gcode_macro ERCF_CHANGE_TOOL_STANDALONE]
gcode:
    SET_FILAMENT_SENSOR SENSOR=encoder_sensor ENABLE=0
    {% if printer["gcode_macro ERCF_HOME"].home == -1 %}
        M118 ERCF not homed, homing it...
        ERCF_HOME
        M117 Change Tool T{params.TOOL|int}
        ERCF_LOAD_TOOL TOOL={params.TOOL|int}
    {% elif printer["gcode_macro ERCF_SELECT_TOOL"].color_selected|int != params.TOOL|int %}
        M117 Change Tool T{params.TOOL|int}
        {% if printer['filament_switch_sensor toolhead_sensor'].filament_detected == True %}
            M118 Unloading current filament
            {% if printer['extruder'].temperature < 178 %}
                M118 Preheat Nozzle
                M109 S{printer["gcode_macro ERCF_VAR"].extruder_eject_temp}
            {% endif %}
            ERCF_EJECT
        {% endif %}

        ERCF_LOAD_TOOL TOOL={params.TOOL|int}
    {% endif %}
    
############################################
# Unloading/Loading Macros
############################################

# Load filament from ERCF to nozzle
[gcode_macro ERCF_LOAD_TOOL]
gcode:
    {% if printer["gcode_macro ERCF_PAUSE"].is_paused|int == 0 %}
        {% if printer["gcode_macro ERCF_HOME"].home == -1 %}
            M118 ERCF not homed, homing it...
            ERCF_HOME
        {% endif %}
        M118 Loading tool {params.TOOL|int} ...
        ERCF_SELECT_TOOL TOOL={params.TOOL|int}
        {% set ercf_params = printer.save_variables.variables %}
        ERCF_SET_STEPS RATIO={ercf_params['ercf_calib_%s' % (params.TOOL|string)]}
        M118 Loading filament from ERCF to extruder ...
        {% set ercf_params = printer.save_variables.variables %}
        ERCF_LOAD LENGTH={ercf_params.ercf_calib_ref|float - printer["gcode_macro ERCF_VAR"].end_of_bowden_to_sensor|float}
        ERCF_LOAD_FILAMENT_IN_EXTRUDER
    {% endif %}

# Unload filament from nozzle to ERCF, using built-in tip forming macro
[gcode_macro ERCF_EJECT]
gcode:
    {% if printer["gcode_macro ERCF_PAUSE"].is_paused|int == 0 %}
        {% if printer["gcode_macro ERCF_SELECT_TOOL"].color_selected|int != -1 %}
            M118 Unloading tool {printer["gcode_macro ERCF_SELECT_TOOL"].color_selected|int} ...
            {% if printer['filament_switch_sensor toolhead_sensor'].filament_detected == True %}
                ERCF_UNLOAD_FILAMENT_IN_EXTRUDER_WITH_TIP_FORMING
                {% set ercf_params = printer.save_variables.variables %}
                ERCF_SET_STEPS RATIO={ercf_params['ercf_calib_%s' % (printer["gcode_macro ERCF_SELECT_TOOL"].color_selected|string)]}
                ERCF_UNLOAD LENGTH={ercf_params.ercf_calib_ref|float - printer["gcode_macro ERCF_VAR"].end_of_bowden_to_sensor|float + printer["gcode_macro ERCF_VAR"].unload_modifier|float}
                ERCF_BUZZ_GEAR_MOTOR
                ERCF_IS_FILAMENT_STUCK_IN_ERCF
                ERCF_UNSELECT_TOOL
            {% else %}
                ERCF_EJECT_UNKNOW_STATE
            {% endif %}
        {% else %}
            ERCF_EJECT_UNKNOW_STATE
        {% endif %}
    {% endif %}

# Unload filament from nozzle to ERCF, using SuperSlicer ramming
[gcode_macro ERCF_UNLOAD_TOOL]
gcode:
    {% if printer["gcode_macro ERCF_PAUSE"].is_paused|int == 0 %}
        {% if printer["gcode_macro ERCF_SELECT_TOOL"].color_selected|int != -1 %}
            M118 Unload tool {printer["gcode_macro ERCF_SELECT_TOOL"].color_selected|int} ...
            ERCF_HOME_EXTRUDER
            ERCF_SELECT_TOOL TOOL={printer["gcode_macro ERCF_SELECT_TOOL"].color_selected|int}
            {% set ercf_params = printer.save_variables.variables %}
            ERCF_SET_STEPS RATIO={ercf_params['ercf_calib_%s' % (params.TOOL|string)]}
            G91
            G92 E0
            MANUAL_STEPPER STEPPER=gear_stepper SET_POSITION=0
            MANUAL_STEPPER STEPPER=gear_stepper MOVE=-{printer["gcode_macro ERCF_VAR"].end_of_bowden_to_sensor|float} SPEED=25 ACCEL=0 SYNC=0
            G1 E-{printer["gcode_macro ERCF_VAR"].end_of_bowden_to_sensor|float} F1500.0
            {% set ercf_params = printer.save_variables.variables %}
            ERCF_UNLOAD LENGTH={ercf_params.ercf_calib_ref|float - printer["gcode_macro ERCF_VAR"].end_of_bowden_to_sensor|float + printer["gcode_macro ERCF_VAR"].unload_modifier|float}
            ERCF_BUZZ_GEAR_MOTOR
            ERCF_IS_FILAMENT_STUCK_IN_ERCF
            ERCF_UNSELECT_TOOL
        {% endif %}
    {% endif %}

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

# Select a tool. move the idler and then move the color selector (if needed)
[gcode_macro ERCF_SELECT_TOOL]
variable_tool_selected: -1
variable_color_selected: -1
gcode:
    {% if printer["gcode_macro ERCF_PAUSE"].is_paused|int == 0 %}
        {% if printer["gcode_macro ERCF_HOME"].home != -1 %}
            M118 Select Tool {params.TOOL} ...
            ERCF_SERVO_UP
            MANUAL_STEPPER STEPPER=selector_stepper MOVE={printer["gcode_macro ERCF_VAR"].colorselector[params.TOOL|int]}
            SET_GCODE_VARIABLE MACRO=ERCF_SELECT_TOOL VARIABLE=tool_selected VALUE={params.TOOL}
            SET_GCODE_VARIABLE MACRO=ERCF_SELECT_TOOL VARIABLE=color_selected VALUE={params.TOOL}
            ERCF_SERVO_DOWN
            M118 Tool {params.TOOL} Enabled
        {% else %}
            M118 Could not select tool, ERCF is not homed
        {% endif %}
    {% endif %}

# Unselect a tool
[gcode_macro ERCF_UNSELECT_TOOL]
gcode:
    {% if printer["gcode_macro ERCF_PAUSE"].is_paused|int == 0 %}
        {% if printer["gcode_macro ERCF_HOME"].home != -1 %}
            ERCF_SERVO_UP
            SET_GCODE_VARIABLE MACRO=ERCF_SELECT_TOOL VARIABLE=tool_selected VALUE=-1
            {% if printer['filament_switch_sensor toolhead_sensor'].filament_detected == False %}
                SET_GCODE_VARIABLE MACRO=ERCF_SELECT_TOOL VARIABLE=color_selected VALUE=-1
            {% endif %}
            ERCF_SET_STEPS RATIO=1.0
        {% else %}
            M118 Could not unselect tool, ERCF is not homed
        {% endif %}
    {% endif %}

############################################
# Loading/Unloading part FROM/TO EXTRUDER TO/FROM NOZZLE
############################################

# Load the filament into the extruder
# Call ERCF_PAUSE if the filament is not detected by the toolhead sensor
[gcode_macro ERCF_LOAD_FILAMENT_IN_EXTRUDER]
gcode:
    {% if printer["gcode_macro ERCF_PAUSE"].is_paused|int == 0 %}
        {% if printer.extruder.temperature > printer["gcode_macro ERCF_VAR"].min_temp_extruder %}
            M118 Loading Filament...
            G91
            G92 E0
            MANUAL_STEPPER STEPPER=gear_stepper SET_POSITION=0
        	MANUAL_STEPPER STEPPER=gear_stepper MOVE={printer["gcode_macro ERCF_VAR"].end_of_bowden_to_sensor|float - 7} SPEED=25 ACCEL=0 SYNC=0
        	G1 E{printer["gcode_macro ERCF_VAR"].end_of_bowden_to_sensor|float - 7} F1500.0
        	G4 P100
            ERCF_HOME_EXTRUDER TOTAL_LENGTH=30.0 STEP_LENGTH=0.5
        	ERCF_UNSELECT_TOOL
        	G1 E15 F1800
        	G1 E{printer["gcode_macro ERCF_VAR"].sensor_to_nozzle - 20} F1800
        	G1 E5 F600
        	G92 E0
        	G90
            M118 Load Complete
        {% else %}
            M118 Extruder too cold
            ERCF_PAUSE
        {% endif %}
    {% endif %}

# StandAlone cooling moves to extract proper filament tip
[gcode_macro ERCF_FORM_TIP_STANDALONE]
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
    G92 E0

# Unload from extruder with tip forming sequence
[gcode_macro ERCF_UNLOAD_FILAMENT_IN_EXTRUDER_WITH_TIP_FORMING]
gcode:
    {% if printer["gcode_macro ERCF_PAUSE"].is_paused|int == 0 %}
        {% if printer.extruder.temperature > printer["gcode_macro ERCF_VAR"].min_temp_extruder %}
            {% if printer["gcode_macro ERCF_SELECT_TOOL"].tool_selected|int == -1 %}
                M118 Forming filament tip and Unloading Filament...
                G91
                ERCF_FORM_TIP_STANDALONE
                G1 E-4.00 F1200.0
                G1 E-15.00 F2000
                ERCF_HOME_EXTRUDER
                ERCF_SERVO_DOWN
                G91
                G92 E0
                MANUAL_STEPPER STEPPER=gear_stepper SET_POSITION=0
                MANUAL_STEPPER STEPPER=gear_stepper MOVE=-{printer["gcode_macro ERCF_VAR"].end_of_bowden_to_sensor|float} SPEED=25 ACCEL=0 SYNC=0
                G1 E-{printer["gcode_macro ERCF_VAR"].end_of_bowden_to_sensor|float} F1500.0
                M118 Filament removed
            {% else %}
                M118 Tool selected, UNSELECT it
                ERCF_PAUSE
            {% endif %}
        {% else %}
            M118 Extruder too cold
            ERCF_PAUSE
        {% endif %}
    {% endif %}

############################################
# Endstop check macros
############################################

# Call ERCF_PAUSE if the filament is not detected by the toolhead sensor
[gcode_macro ERCF_IS_FILAMENT_IN_EXTRUDER]
gcode:
    {% if printer['filament_switch_sensor toolhead_sensor'].filament_detected == True %}
        M118 Filament is in extruder
    {% else %}
        M118 Filament not in extruder
        ERCF_PAUSE
    {% endif %}

# Call ERCF_PAUSE if the filament is stuck in the ERCF
[gcode_macro ERCF_IS_FILAMENT_STUCK_IN_ERCF]
gcode:
    {% if printer.ercf.encoder_pos|float != 0 %}
        M118 Filament stuck in ERCF
        ERCF_PAUSE
    {% else %}
        M118 Filament not in ERCF
    {% endif %}

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

# Eject from extruder gear to the ERCF
[gcode_macro ERCF_EJECT_UNKNOW_STATE]
gcode:
    M118 Eject Filament if loaded ...
    {% if printer['filament_switch_sensor toolhead_sensor'].filament_detected == True %}
        M118 Filament in extruder, trying to eject it ..
        {% if printer['extruder'].temperature < 178 %}
            M118 Preheat Nozzle
            M109 S{printer["gcode_macro ERCF_VAR"].extruder_eject_temp}
        {% endif %}
        ERCF_UNLOAD_FILAMENT_IN_EXTRUDER_WITH_TIP_FORMING
        ERCF_UNLOAD LENGTH={printer["gcode_macro ERCF_VAR"].min_bowden_length - 50}
    {% else %}
        ERCF_SERVO_DOWN
    {% endif %}
    ERCF_BUZZ_GEAR_MOTOR
    G4 P200
    ERCF_EJECT_FROM_BOWDEN

# Eject from the bowden to the ERCF
[gcode_macro ERCF_EJECT_FROM_BOWDEN]
gcode:
    {% if printer.ercf.encoder_pos|float != 0 %}
        ERCF_UNLOAD HOMING=1
        M118 Filament ejected !
    {% else %}
        M118 Filament already ejected !
    {% endif %}
    ERCF_SERVO_UP

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

# Home the ERCF
# eject filament if loaded with ERCF_EJECT_UNKNOW_STATE
# next home the ERCF with ERCF_HOME_ONLY
[gcode_macro ERCF_HOME]
variable_home: -1
gcode:
    SET_FILAMENT_SENSOR SENSOR=encoder_sensor ENABLE=0
    SET_GCODE_VARIABLE MACRO=ERCF_HOME VARIABLE=home VALUE=1
    M118 Homing ERCF ...
    QUERY_ENDSTOPS
    ERCF_EJECT_UNKNOW_STATE
    ERCF_HOME_ONLY

[gcode_macro ERCF_HOME_SELECTOR]
gcode:
    M118 Homing selector
    ERCF_SERVO_UP

    {% set number_of_chan=printer["gcode_macro ERCF_VAR"].colorselector|length %}
    {% set selector_length=(20.0 + number_of_chan*21.0 + (number_of_chan/3)*5.0) %}

    MANUAL_STEPPER STEPPER=selector_stepper SET_POSITION=0
    MANUAL_STEPPER STEPPER=selector_stepper SPEED=100 MOVE=-{selector_length|float} STOP_ON_ENDSTOP=1
    MANUAL_STEPPER STEPPER=selector_stepper SET_POSITION=0
    MANUAL_STEPPER STEPPER=selector_stepper SPEED=100 MOVE=5.0
    MANUAL_STEPPER STEPPER=selector_stepper SPEED=10 MOVE=-10.0 STOP_ON_ENDSTOP=1
    MANUAL_STEPPER STEPPER=selector_stepper SET_POSITION=0
    SET_GCODE_VARIABLE MACRO=ERCF_SELECT_TOOL VARIABLE=tool_selected VALUE=-1
    SET_GCODE_VARIABLE MACRO=ERCF_SELECT_TOOL VARIABLE=color_selected VALUE=-1

# 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 ERCF_HOME_ONLY]
gcode:
    {% if printer["gcode_macro ERCF_PAUSE"].is_paused|int == 0 %}
        ERCF_HOME_SELECTOR
        M118 Test load filament 1
        ERCF_SELECT_TOOL TOOL=0
        ERCF_SET_STEPS RATIO=1.0
        M118 Loading filament to ERCF...
        ERCF_LOAD LENGTH=50
        G4 P50
        ERCF_UNLOAD LENGTH=73
        ERCF_UNSELECT_TOOL
        SET_GCODE_VARIABLE MACRO=ERCF_HOME VARIABLE=home VALUE=1
        M118 Homing ERCF ended ...
    {% else %}
        M118 Homing ERCF failed, ERCF is paused, run "ERCF_UNLOCK" to unlock it ...
    {% endif %}

###############################################
# Test Macros
###############################################
[gcode_macro ERCF_TEST_MOVE_GEAR]
default_parameter_LENGTH: 200.0
default_parameter_SPEED: 50.0
default_parameter_ACCEL: 200.0
gcode:
    MANUAL_STEPPER STEPPER=gear_stepper SET_POSITION=0
    MANUAL_STEPPER STEPPER=gear_stepper MOVE={LENGTH|float} SPEED={SPEED|float} ACCEL={ACCEL|float}

# Push the servo down (enable the bondtech gears)
[gcode_macro ERCF_TEST_SERVO]
gcode:
    SET_SERVO SERVO=ercf_servo ANGLE={params.VALUE|float}
    G4 P250
    SET_SERVO SERVO=ercf_servo WIDTH=0.0

[gcode_macro ERCF_TEST_GRIP]
gcode:
    ERCF_SERVO_DOWN
    ERCF_MOTORS_OFF

###############################################
# Endless spool mode and clog detection
###############################################
    
[gcode_macro ERCF_ENCODER_MOTION_ISSUE]
gcode:
    M118 Issue on tool {printer["gcode_macro ERCF_SELECT_TOOL"].color_selected|int}
    M118 Checking if this is a clog or a runout...

    SET_FILAMENT_SENSOR SENSOR=encoder_sensor ENABLE=0

    ERCF_SERVO_DOWN
    ERCF_BUZZ_GEAR_MOTOR
    ERCF_SERVO_UP
    ERCF_CLOG_OR_RUNOUT
   
[gcode_macro ERCF_CLOG_OR_RUNOUT]
gcode:
    {% if printer.ercf.encoder_pos|float != 0 %}
        M118 Clog detected, please check the ERCF and the printer
    {% else %}
        M118 Runout detected !
        {% if printer["gcode_macro ERCF_VAR"].endless_spool_mode|int == 1 %}
            {% if printer["gcode_macro ERCF_SELECT_TOOL"].color_selected|int >= (printer["gcode_macro ERCF_VAR"].colorselector|length -1) %}
                {% set nexttool = 0 %}
            {% else %}
                {% set nexttool = (printer["gcode_macro ERCF_SELECT_TOOL"].color_selected|int + 1) %}
            {% endif %}

            M118 Loading tool {nexttool|int}
            SAVE_GCODE_STATE NAME=ERCF_Pre_Brush_init
            # Adapt the example below to your own setup
            # The goal is just to clean the nozzle after the change
            # In my case I have a purge bucket with a brush
            # G0 X45 Y300 F18000
            # G0 X45 Y310 Z1 F3000

            # Custom unload sequence
            M118 Forming filament tip and Unloading Filament...
            G91
            ERCF_FORM_TIP_STANDALONE
            ERCF_HOME_EXTRUDER TOTAL_LENGTH={printer["gcode_macro ERCF_VAR"].sensor_to_nozzle} STEP_LENGTH=2.0
            ERCF_SERVO_DOWN

            G91
            G92 E0
            MANUAL_STEPPER STEPPER=gear_stepper SET_POSITION=0
            MANUAL_STEPPER STEPPER=gear_stepper MOVE=-{printer["gcode_macro ERCF_VAR"].end_of_bowden_to_sensor|float} SPEED=25 ACCEL=0 SYNC=0
            G1 E-{printer["gcode_macro ERCF_VAR"].end_of_bowden_to_sensor|float} F1500.0

            {% set ercf_params = printer.save_variables.variables %}
            ERCF_SET_STEPS RATIO={ercf_params['ercf_calib_%s' % (printer["gcode_macro ERCF_SELECT_TOOL"].color_selected|string)]}
            ERCF_UNLOAD LENGTH={ercf_params.ercf_calib_ref|float - printer["gcode_macro ERCF_VAR"].end_of_bowden_to_sensor|float + printer["gcode_macro ERCF_VAR"].unload_modifier|float}
            ERCF_UNSELECT_TOOL

            ERCF_LOAD_TOOL TOOL={nexttool|int}
            ERCF_CHECK_IF_RESUME
        {% else %}
            M118 EndlessSpool mode not enabled, please do something
        {% endif %}
    {% endif %}

[gcode_macro ERCF_CHECK_IF_RESUME]
gcode:
    {% if printer["gcode_macro ERCF_PAUSE"].is_paused|int == 0 %}
        # Adapt the example below to your own setup
        # The goal is just to clean the nozzle after the change
        # In my case I have a purge bucket with a brush
        # BRUSH_PURGE LENGTH=50
        # BRUSH_CLEAN
        RESTORE_GCODE_STATE NAME=ERCF_Pre_Brush_init
        RESUME
        {% if printer["gcode_macro ERCF_VAR"].clog_detection|int == 1 %}
            SET_FILAMENT_SENSOR SENSOR=encoder_sensor ENABLE=1
        {% endif %}
    {% endif %}