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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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6
klippy/kinematics/rotary_delta.py
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@@ -10,14 +10,14 @@ class RotaryDeltaKinematics:
def __init__(self, toolhead, config):
# Setup tower rails
stepper_configs = [config.getsection('stepper_' + a) for a in 'abc']
rail_a = stepper.PrinterRail(
rail_a = stepper.LookupRail(
stepper_configs[0], need_position_minmax=False,
units_in_radians=True)
a_endstop = rail_a.get_homing_info().position_endstop
rail_b = stepper.PrinterRail(
rail_b = stepper.LookupRail(
stepper_configs[1], need_position_minmax=False,
default_position_endstop=a_endstop, units_in_radians=True)
rail_c = stepper.PrinterRail(
rail_c = stepper.LookupRail(
stepper_configs[2], need_position_minmax=False,
default_position_endstop=a_endstop, units_in_radians=True)
self.rails = [rail_a, rail_b, rail_c]