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BoxTurtle is an automated, lane-based filament changing system, also known by some as a "Type B MMU." Each lane is equipped with its own dedicated motor that moves filament to and from the tool head independently, eliminating the need for a selector cart or servos. Synchronization between the lane motor and the tool head occurs when the filament triggers a sensor located in or near the tool head.
To accommodate any differences in rotation distance between the extruder in the tool head and the lane motors, BoxTurtle uses a buffer system, such as the [belay by annex engineering](https://github.com/Annex-Engineering/Belay) or the T[TurtleNeck](https://github.com/ArmoredTurtle/TurtleNeck) by ArmoredTurtle. This system is "bufferless," meaning no filament boxes are required, similar to the AMS. Each lane features an independent respooler equipped with a brushed motor, which helps rewind the spool and assists the lane motor in feeding the filament smoothly. This prevents issues like spool tangling or "bucking."
To accommodate any differences in rotation distance between the extruder in the tool head and the lane motors, BoxTurtle uses a buffer system, such as the [belay by annex engineering](https://github.com/Annex-Engineering/Belay) or the [TurtleNeck](https://github.com/ArmoredTurtle/TurtleNeck) by ArmoredTurtle. This system is "bufferless," meaning no filament boxes are required, similar to the AMS. Each lane features an independent respooler equipped with a brushed motor, which helps rewind the spool and assists the lane motor in feeding the filament smoothly. This prevents issues like spool tangling or "bucking."
For precise PWM control of the brushed motors, BoxTurtle relies on a custom MCU, AFC-lite, developed by [Isik's Tech @xbst](https://github.com/xbst/AFC-Lite/) While the system currently supports BTT MMB CAN, this is a temporary solution to facilitate broader testing and will not be a permanent feature.