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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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17
klippy/kinematics/hybrid_corexz.py
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@@ -12,7 +12,7 @@ class HybridCoreXZKinematics:
def __init__(self, toolhead, config):
self.printer = config.get_printer()
# itersolve parameters
self.rails = [ stepper.PrinterRail(config.getsection('stepper_x')),
self.rails = [ stepper.LookupRail(config.getsection('stepper_x')),
stepper.LookupMultiRail(config.getsection('stepper_y')),
stepper.LookupMultiRail(config.getsection('stepper_z'))]
self.rails[2].get_endstops()[0][0].add_stepper(
@@ -29,16 +29,13 @@ class HybridCoreXZKinematics:
# dummy for cartesian config users
dc_config.getchoice('axis', ['x'], default='x')
# setup second dual carriage rail
self.rails.append(stepper.PrinterRail(dc_config))
self.rails.append(stepper.LookupRail(dc_config))
self.rails[2].get_endstops()[0][0].add_stepper(
self.rails[3].get_steppers()[0])
self.rails[3].setup_itersolve('corexz_stepper_alloc', b'+')
dc_rail_0 = idex_modes.DualCarriagesRail(
self.rails[0], axis=0, active=True)
dc_rail_1 = idex_modes.DualCarriagesRail(
self.rails[3], axis=0, active=False)
self.dc_module = idex_modes.DualCarriages(
dc_config, dc_rail_0, dc_rail_1, axis=0)
self.printer, [self.rails[0]], [self.rails[3]], axes=[0],
safe_dist=config.getfloat('safe_distance', None, minval=0.))
for s in self.get_steppers():
s.set_trapq(toolhead.get_trapq())
toolhead.register_step_generator(s.generate_steps)
@@ -69,8 +66,8 @@ class HybridCoreXZKinematics:
rail.set_position(newpos)
for axis_name in homing_axes:
axis = "xyz".index(axis_name)
if self.dc_module and axis == self.dc_module.axis:
rail = self.dc_module.get_primary_rail().get_rail()
if self.dc_module and axis == 0:
rail = self.dc_module.get_primary_rail(axis)
else:
rail = self.rails[axis]
self.limits[axis] = rail.get_range()
@@ -93,7 +90,7 @@ class HybridCoreXZKinematics:
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.home(homing_state)
self.dc_module.home(homing_state, axis)
else:
self.home_axis(homing_state, axis, self.rails[axis])
def _check_endstops(self, move):