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idex_modes: Fixed the case when carriages home in the same direction (#6310)

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Previous version of the code assumed that dual carriages home away
from each other, which is not true on some machines, which have the
second dual carriage homing on the first carriage. The new code
correctly identifies the relative order of the carriages now.

This fixes discrepancies between the documentation and the actual
implementation of the carriages kinematic ranges calculation.

Notes about dual_carriage homing and proximity checks changes

Fixed clearing of homing state after homing in certain modes

In case of multi-MCU homing it is possible that the carriage position
will end up outside of the allowed motion range due to latencies in data
transmission between MCUs. Selecting certain modes after homing could
result in home state clearing instead of blocking the motion of the
active carriage. This commit fixes this undesired behavior.

Signed-off-by: Dmitry Butyugin <dmbutyugin@google.com>
This commit is contained in:
Dmitry Butyugin
2023-09-30 02:46:42 +09:00
committed by GitHub
parent 21b7842979
commit a4cd0336bd
3 changed files with 62 additions and 8 deletions
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8
docs/Config_Reference.md
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@@ -2065,6 +2065,14 @@ in this section (CARRIAGE=0 will return activation to the primary carriage).
Dual carriage support is typically combined with extra extruders - the
SET_DUAL_CARRIAGE command is often called at the same time as the
ACTIVATE_EXTRUDER command. Be sure to park the carriages during deactivation.
Note that during G28 homing, typically the primary carriage is homed first
followed by the carriage defined in the `[dual_carriage]` config section.
However, the `[dual_carriage]` carriage will be homed first if both carriages
home in a positive direction and the [dual_carriage] carriage has a
`position_endstop` greater than the primary carriage, or if both carriages home
in a negative direction and the `[dual_carriage]` carriage has a
`position_endstop` less than the primary carriage.
Additionally, one could use "SET_DUAL_CARRIAGE CARRIAGE=1 MODE=COPY" or
"SET_DUAL_CARRIAGE CARRIAGE=1 MODE=MIRROR" commands to activate either copying
or mirroring mode of the dual carriage, in which case it will follow the