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kinematics: Generic Cartesian kinematics implementation (#6815)

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* tests: Added a regression test for generic_cartesian kinematics

* kinematics: An intial implementation of generic_cartesian kinematics

* generic_cartesian: Refactored kinematics configuration API

* generic_cartesian: Use stepper instead of kinematic_stepper in configs

* generic_cartesian: Added SET_STEPPER_KINEMATICS command

* generic_cartesian: Fixed parsing of section names

* docs: Generic Caretsian kinematics documentation and config samples

* generic_cartesian: Implemented multi-mcu homing validation

* generic_cartesian: Fixed typos in docs, minor fixes

* generic_cartesian: Renamed `kinematics` option to `carriages`

* generic_cartesian: Moved kinematic_stepper.py file

* idex_modes: Internal refactoring of handling dual carriages

* stepper: Refactored the code to not store a reference to config object

* config: Updated example-generic-cartesian config

* generic_cartesian: Restricted SET_STEPPER_CARRIAGES and exported status

* idex_modes: Fixed handling stepper kinematics with input shaper enabled

* config: Updated configs and tests for SET_DUAL_CARRIAGE new params

* generic_cartesian: Avoid inheritance in the added classes

Signed-off-by: Dmitry Butyugin <dmbutyugin@google.com>
This commit is contained in:
Dmitry Butyugin
2025-05-07 00:06:36 +02:00
committed by GitHub
parent 1cc6398074
commit cc6736c3e3
27 changed files with 1855 additions and 199 deletions
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59
docs/G-Codes.md
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@@ -341,15 +341,18 @@ The following command is available when the
enabled.
#### SET_DUAL_CARRIAGE
`SET_DUAL_CARRIAGE CARRIAGE=[0|1] [MODE=[PRIMARY|COPY|MIRROR]]`:
`SET_DUAL_CARRIAGE CARRIAGE=<carriage> [MODE=[PRIMARY|COPY|MIRROR]]`:
This command will change the mode of the specified carriage.
If no `MODE` is provided it defaults to `PRIMARY`. Setting the mode
to `PRIMARY` deactivates the other carriage and makes the specified
carriage execute subsequent G-Code commands as-is. `COPY` and `MIRROR`
modes are supported only for `CARRIAGE=1`. When set to either of these
modes, carriage 1 will then track the subsequent moves of the carriage 0
and either copy relative movements of it (in `COPY` mode) or execute them
in the opposite (mirror) direction (in `MIRROR` mode).
If no `MODE` is provided it defaults to `PRIMARY`. `<carriage>` must
reference a defined primary or dual carriage for `generic_cartesian`
kinematics or be 0 (for primary carriage) or 1 (for dual carriage)
for all other kinematics supporting IDEX. Setting the mode to `PRIMARY`
deactivates the other carriage and makes the specified carriage execute
subsequent G-Code commands as-is. `COPY` and `MIRROR` modes are supported
only for dual carriages. When set to either of these modes, dual carriage
will then track the subsequent moves of its primary carriage and either
copy relative movements of it (in `COPY` mode) or execute them in the
opposite (mirror) direction (in `MIRROR` mode).
#### SAVE_DUAL_CARRIAGE_STATE
`SAVE_DUAL_CARRIAGE_STATE [NAME=<state_name>]`: Save the current positions
@@ -715,6 +718,46 @@ is specified then the toolhead move will be performed with the given
speed (in mm/s); otherwise the toolhead move will use the restored
g-code speed.
### [generic_cartesian]
The commands in this section become automatically available when
`kinematics: generic_cartesian` is specified as the printer kinematics.
#### SET_STEPPER_CARRIAGES
`SET_STEPPER_CARRIAGES STEPPER=<stepper_name> CARRIAGES=<carriages>
[DISABLE_CHECKS=[0|1]]`: Set or update the stepper carriages.
`<stepper_name>` must reference an existing stepper defined in `printer.cfg`,
and `<carriages>` describes the carriages the stepper moves. See
[Generic Cartesian Kinematics](Config_Reference.md#generic-cartesian-kinematics)
for a more detailed overview of the `carriages` parameter in the
stepper configuration section. Note that it is only possible
to change the coefficients or signs of the carriages with this
command, but a user cannot add or remove the carriages that the stepper
controls.
`SET_STEPPER_CARRIAGES` is an advanced tool, and the user is advised
to exercise an extreme caution using it, since specifying incorrect
configuration may physically damage the printer.
Note that `SET_STEPPER_CARRIAGES` performs certain internal validations
of the new printer kinematics after the change. Keep in mind that if it
detects an issue, it may leave printer kinematics in an invalid state.
This means that if `SET_STEPPER_CARRIAGES` reports an error, it is unsafe
to issue other GCode commands, and the user must inspect the error message
and either fix the problem, or manually restore the previous stepper(s)
configuration.
Since `SET_STEPPER_CARRIAGES` can update a configuration of a single
stepper at a time, some sequences of changes can lead to invalid
intermediate kinematic configurations, even if the final configuration
is valid. In such cases a user can pass `DISABLE_CHECKS=1` parameters to
all but the last command to disable intermediate checks. For example,
if `stepper a` and `stepper b` initially have `x-y` and `x+y` carriages
correspondingly, then the following sequence of commands will let a user
effectively swap the carriage controls:
`SET_STEPPER_CARRIAGES STEPPER=a CARRIAGES=x+y DISABLE_CHECKS=1`
and `SET_STEPPER_CARRIAGES STEPPER=b CARRIAGES=x-y`, while
still validating the final kinematics state.
### [hall_filament_width_sensor]
The following commands are available when the