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input_shaper: Track kinematics updates by dual_carriage

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Signed-off-by: Dmitry Butyugin <dmbutyugin@google.com>
This commit is contained in:
Dmitry Butyugin
2025-05-23 01:44:47 +02:00
committed by KevinOConnor
parent 14cbb8dd2d
commit 4d4b9684a5
5 changed files with 95 additions and 38 deletions
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20
klippy/kinematics/idex_modes.py
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@@ -18,17 +18,18 @@ class DualCarriages:
safe_dist={}):
self.printer = printer
self.axes = axes
steppers = self._init_steppers(primary_rails + dual_rails)
self._init_steppers(primary_rails + dual_rails)
self.primary_rails = [
DualCarriagesRail(c, dual_rails[i], axes[i], active=True)
DualCarriagesRail(printer, c, dual_rails[i],
axes[i], active=True)
for i, c in enumerate(primary_rails)]
self.dual_rails = [
DualCarriagesRail(c, primary_rails[i], axes[i], active=False)
DualCarriagesRail(printer, c, primary_rails[i],
axes[i], active=False)
for i, c in enumerate(dual_rails)]
self.dc_rails = collections.OrderedDict(
[(c.rail.get_name(short=True), c)
for c in self.primary_rails + self.dual_rails])
self._init_shapers(steppers)
self.saved_states = {}
self.safe_dist = {}
for i, dc in enumerate(dual_rails):
@@ -76,13 +77,6 @@ class DualCarriages:
self.dc_stepper_kinematics.append(sk)
self.orig_stepper_kinematics.append(orig_sk)
s.set_stepper_kinematics(sk)
return steppers
def _init_shapers(self, steppers):
input_shaper = self.printer.lookup_object("input_shaper", None)
if input_shaper is not None:
# Make sure to initialize input shaper stepper kinematics
# before modifying IDEX stepper kinematics.
input_shaper.init_for_steppers(steppers)
def get_axes(self):
return self.axes
def get_primary_rail(self, axis):
@@ -324,7 +318,8 @@ class DualCarriages:
class DualCarriagesRail:
ENC_AXES = [b'x', b'y']
def __init__(self, rail, dual_rail, axis, active):
def __init__(self, printer, rail, dual_rail, axis, active):
self.printer = printer
self.rail = rail
self.dual_rail = dual_rail
self.sks = [s.get_stepper_kinematics() for s in rail.get_steppers()]
@@ -343,6 +338,7 @@ class DualCarriagesRail:
for sk in self.sks:
ffi_lib.dual_carriage_set_transform(
sk, self.ENC_AXES[self.axis], self.scale, self.offset)
self.printer.send_event('dual_carriage:update_kinematics')
def activate(self, mode, position, old_position=None):
old_axis_position = self.get_axis_position(old_position or position)
self.scale = -1. if mode == MIRROR else 1.