h3n3/klipper
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

idex_modes: COPY and MIRROR mode implementation (#6297)

Browse Source 
COPY and MIRROR mode implementation

Correctly apply input shaper params to new dual_carriage

Added SAVE_/RESTORE_IDEX_STATE commands

Documentation updates for the new IDEX modes

Signed-off-by: Dmitry Butyugin <dmbutyugin@google.com>
This commit is contained in:
Dmitry Butyugin
2023-08-01 18:23:52 +02:00
committed by GitHub
parent ea330717cd
commit 36be1cfc51
14 changed files with 458 additions and 250 deletions
Download Patch File Download Diff File Expand all files Collapse all files

30
klippy/kinematics/hybrid_corexz.py
View File

@@ -33,17 +33,13 @@ class HybridCoreXZKinematics:
self.rails.append(stepper.PrinterRail(dc_config))
self.rails[2].get_endstops()[0][0].add_stepper(
self.rails[3].get_steppers()[0])
self.rails[3].setup_itersolve('cartesian_stepper_alloc', b'z')
self.rails[3].setup_itersolve('corexz_stepper_alloc', b'+')
dc_rail_0 = idex_modes.DualCarriagesRail(
self.printer, self.rails[0], axis=0, active=True,
stepper_alloc_active=('corexz_stepper_alloc', b'-'),
stepper_alloc_inactive=('cartesian_reverse_stepper_alloc',b'z'))
self.rails[0], axis=0, active=True)
dc_rail_1 = idex_modes.DualCarriagesRail(
self.printer, self.rails[3], axis=0, active=False,
stepper_alloc_active=('corexz_stepper_alloc', b'+'),
stepper_alloc_inactive=('cartesian_stepper_alloc', b'z'))
self.dc_module = idex_modes.DualCarriages(self.printer,
dc_rail_0, dc_rail_1, axis=0)
self.rails[3], axis=0, active=False)
self.dc_module = idex_modes.DualCarriages(
dc_config, dc_rail_0, dc_rail_1, axis=0)
for s in self.get_steppers():
s.set_trapq(toolhead.get_trapq())
toolhead.register_step_generator(s.generate_steps)
@@ -60,8 +56,8 @@ class HybridCoreXZKinematics:
return [s for rail in self.rails for s in rail.get_steppers()]
def calc_position(self, stepper_positions):
pos = [stepper_positions[rail.get_name()] for rail in self.rails]
if (self.dc_module is not None and 'CARRIAGE_1' == \
self.dc_module.get_status()['active_carriage']):
if (self.dc_module is not None and 'PRIMARY' == \
self.dc_module.get_status()['carriage_1']):
return [pos[0] - pos[2], pos[1], pos[2]]
else:
return [pos[0] + pos[2], pos[1], pos[2]]
@@ -81,7 +77,7 @@ class HybridCoreXZKinematics:
def note_z_not_homed(self):
# Helper for Safe Z Home
self.limits[2] = (1.0, -1.0)
def _home_axis(self, homing_state, axis, rail):
def home_axis(self, homing_state, axis, rail):
position_min, position_max = rail.get_range()
hi = rail.get_homing_info()
homepos = [None, None, None, None]
@@ -95,14 +91,10 @@ class HybridCoreXZKinematics:
homing_state.home_rails([rail], forcepos, homepos)
def home(self, homing_state):
for axis in homing_state.get_axes():
if (self.dc_module is not None and axis == 0):
self.dc_module.save_idex_state()
for i in [0,1]:
self.dc_module.toggle_active_dc_rail(i)
self._home_axis(homing_state, axis, self.rails[0])
self.dc_module.restore_idex_state()
if self.dc_module is not None and axis == 0:
self.dc_module.home(homing_state)
else:
self._home_axis(homing_state, axis, self.rails[axis])
self.home_axis(homing_state, axis, self.rails[axis])
def _motor_off(self, print_time):
self.limits = [(1.0, -1.0)] * 3
def _check_endstops(self, move):