kinematics: Generic Cartesian kinematics implementation (#6815)
* 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
GitHub
172
test/klippy/corexyuv.cfg
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172
test/klippy/corexyuv.cfg
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# Test config for generic cartesian kinematics with dual carriage
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[carriage x]
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position_endstop: 0
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position_max: 300
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homing_speed: 50
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endstop_pin: ^PE5
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[carriage y]
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position_endstop: 0
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position_max: 200
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homing_speed: 50
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endstop_pin: ^PJ1
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[carriage z]
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position_endstop: 0.5
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position_max: 100
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endstop_pin: ^PD3
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[extra_carriage z1]
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primary_carriage: z
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endstop_pin: ^PD2
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[dual_carriage u]
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primary_carriage: x
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safe_distance: 70
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position_endstop: 300
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position_max: 300
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homing_speed: 50
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endstop_pin: ^PE4
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[dual_carriage v]
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primary_carriage: y
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safe_distance: 50
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position_endstop: 200
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position_max: 200
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homing_speed: 50
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endstop_pin: ^PD4
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[stepper a]
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carriages: x+y
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step_pin: PF0
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dir_pin: PF1
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enable_pin: !PD7
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microsteps: 16
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rotation_distance: 40
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[stepper b]
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carriages: u-v
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step_pin: PH1
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dir_pin: PH0
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enable_pin: !PA1
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microsteps: 16
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rotation_distance: 40
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[stepper c]
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carriages: x-y
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step_pin: PF6
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dir_pin: !PF7
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enable_pin: !PF2
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microsteps: 16
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rotation_distance: 40
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[stepper d]
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carriages: u+v
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step_pin: PE3
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dir_pin: !PH6
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enable_pin: !PG5
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microsteps: 16
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rotation_distance: 40
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[stepper z]
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carriages: z
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step_pin: PL3
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dir_pin: PL1
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enable_pin: !PK0
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microsteps: 16
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rotation_distance: 8
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[stepper z1]
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carriages: z1
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step_pin: PG1
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dir_pin: PG0
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enable_pin: !PH3
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microsteps: 16
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rotation_distance: 8
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[extruder]
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step_pin: PA4
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dir_pin: PA6
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enable_pin: !PA2
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microsteps: 16
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rotation_distance: 33.5
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nozzle_diameter: 0.400
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filament_diameter: 1.750
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heater_pin: PB4
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sensor_type: EPCOS 100K B57560G104F
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sensor_pin: PK5
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control: pid
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pid_Kp: 22.2
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pid_Ki: 1.08
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pid_Kd: 114
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min_temp: 0
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max_temp: 250
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[gcode_macro PARK_extruder]
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gcode:
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SET_DUAL_CARRIAGE CARRIAGE=x
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SET_DUAL_CARRIAGE CARRIAGE=y
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G90
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G1 X0 Y0
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[gcode_macro T0]
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gcode:
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PARK_{printer.toolhead.extruder}
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SET_SERVO SERVO=my_servo angle=100
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ACTIVATE_EXTRUDER EXTRUDER=extruder
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SET_DUAL_CARRIAGE CARRIAGE=x
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SET_DUAL_CARRIAGE CARRIAGE=y
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[extruder1]
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step_pin: PC1
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dir_pin: PC3
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enable_pin: !PC7
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microsteps: 16
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rotation_distance: 33.5
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nozzle_diameter: 0.400
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filament_diameter: 1.750
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heater_pin: PB5
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sensor_type: EPCOS 100K B57560G104F
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sensor_pin: PK7
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control: pid
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pid_Kp: 22.2
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pid_Ki: 1.08
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pid_Kd: 114
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min_temp: 0
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max_temp: 250
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[gcode_macro PARK_extruder1]
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gcode:
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SET_DUAL_CARRIAGE CARRIAGE=u
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SET_DUAL_CARRIAGE CARRIAGE=v
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G90
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G1 X300 Y200
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[gcode_macro T1]
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gcode:
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PARK_{printer.toolhead.extruder}
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SET_SERVO SERVO=my_servo angle=50
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ACTIVATE_EXTRUDER EXTRUDER=extruder1
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SET_DUAL_CARRIAGE CARRIAGE=u
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SET_DUAL_CARRIAGE CARRIAGE=v
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[servo my_servo]
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pin: PH4
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[heater_bed]
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heater_pin: PH5
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sensor_type: EPCOS 100K B57560G104F
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sensor_pin: PK6
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control: watermark
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min_temp: 0
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max_temp: 130
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[mcu]
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serial: /dev/ttyACM0
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[printer]
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kinematics: generic_cartesian
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max_velocity: 300
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max_accel: 3000
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max_z_velocity: 5
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max_z_accel: 100
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52
test/klippy/corexyuv.test
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52
test/klippy/corexyuv.test
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# Test cases on printers with dual carriage and multiple extruders
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CONFIG corexyuv.cfg
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DICTIONARY atmega2560.dict
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# First home the printer
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G90
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G28
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# Perform a dummy move
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G1 X10 Y20 F6000
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# Activate alternate carriage
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SET_DUAL_CARRIAGE CARRIAGE=u
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SET_DUAL_CARRIAGE CARRIAGE=v
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G1 X170 Y190 F6000
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# Go back to main carriage on X axis
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SET_DUAL_CARRIAGE CARRIAGE=x
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G1 X20 F6000
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# Save dual carriage state
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SAVE_DUAL_CARRIAGE_STATE
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G1 Y150 F6000
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# Go back to main carriage on Y axis
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SET_DUAL_CARRIAGE CARRIAGE=y
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G1 X10 Y50 F6000
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# Restore dual carriage state
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RESTORE_DUAL_CARRIAGE_STATE
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# Test changing extruders
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G1 X5
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T1
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G91
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G1 X-10 E.2
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T0
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G91
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G1 X20 E.2
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G90
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QUERY_ENDSTOPS
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# Servo tests
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SET_SERVO servo=my_servo angle=160
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SET_SERVO servo=my_servo angle=130
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# Verify STEPPER_BUZZ
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STEPPER_BUZZ STEPPER='stepper d'
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STEPPER_BUZZ STEPPER=extruder
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STEPPER_BUZZ STEPPER=extruder1
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165
test/klippy/generic_cartesian.cfg
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165
test/klippy/generic_cartesian.cfg
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# Test config for generic cartesian kinematics with dual carriage
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[carriage x]
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position_endstop: 0
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position_max: 300
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homing_speed: 50
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endstop_pin: ^PE5
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[carriage y]
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position_endstop: 0
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position_max: 200
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homing_speed: 50
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endstop_pin: ^PJ1
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[extra_carriage y1]
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primary_carriage: y
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endstop_pin: ^PB6
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[carriage z]
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position_endstop: 0.5
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position_max: 100
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endstop_pin: ^PD3
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[extra_carriage z1]
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primary_carriage: z
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endstop_pin: ^PD2
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[dual_carriage u]
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primary_carriage: x
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position_endstop: 300
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position_max: 300
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homing_speed: 50
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endstop_pin: ^PE4
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[stepper stepper_x]
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carriages: x+y
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step_pin: PF0
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dir_pin: PF1
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enable_pin: !PD7
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microsteps: 16
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rotation_distance: 40
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[stepper dual_carriage]
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carriages: u-y1
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step_pin: PH1
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dir_pin: PH0
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enable_pin: !PA1
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microsteps: 16
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rotation_distance: 40
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[stepper stepper_y]
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carriages: 1*y+0.5*z
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step_pin: PF6
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dir_pin: !PF7
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enable_pin: !PF2
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microsteps: 16
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rotation_distance: 40
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[stepper stepper_y1]
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carriages: 1*y1-0.5*z1
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step_pin: PE3
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dir_pin: !PH6
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enable_pin: !PG5
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microsteps: 16
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rotation_distance: 40
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[stepper stepper_z]
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carriages: z
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step_pin: PL3
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dir_pin: PL1
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enable_pin: !PK0
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microsteps: 16
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rotation_distance: 8
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[stepper stepper_z1]
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carriages: z1
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step_pin: PG1
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dir_pin: PG0
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enable_pin: !PH3
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microsteps: 16
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rotation_distance: 8
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[extruder]
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step_pin: PA4
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dir_pin: PA6
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enable_pin: !PA2
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microsteps: 16
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rotation_distance: 33.5
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nozzle_diameter: 0.400
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filament_diameter: 1.750
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heater_pin: PB4
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sensor_type: EPCOS 100K B57560G104F
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sensor_pin: PK5
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control: pid
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pid_Kp: 22.2
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pid_Ki: 1.08
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pid_Kd: 114
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min_temp: 0
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max_temp: 250
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[gcode_macro PARK_extruder]
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gcode:
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SET_DUAL_CARRIAGE CARRIAGE=x
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G90
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G1 X0
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[gcode_macro T0]
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gcode:
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PARK_{printer.toolhead.extruder}
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SET_SERVO SERVO=my_servo angle=100
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ACTIVATE_EXTRUDER EXTRUDER=extruder
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SET_DUAL_CARRIAGE CARRIAGE=x
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[extruder1]
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step_pin: PC1
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dir_pin: PC3
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enable_pin: !PC7
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microsteps: 16
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rotation_distance: 33.5
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nozzle_diameter: 0.400
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filament_diameter: 1.750
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heater_pin: PB5
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sensor_type: EPCOS 100K B57560G104F
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sensor_pin: PK7
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control: pid
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pid_Kp: 22.2
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pid_Ki: 1.08
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pid_Kd: 114
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min_temp: 0
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max_temp: 250
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[gcode_macro PARK_extruder1]
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gcode:
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SET_DUAL_CARRIAGE CARRIAGE=u
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G90
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G1 X300
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[gcode_macro T1]
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gcode:
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PARK_{printer.toolhead.extruder}
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SET_SERVO SERVO=my_servo angle=50
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ACTIVATE_EXTRUDER EXTRUDER=extruder1
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SET_DUAL_CARRIAGE CARRIAGE=u
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[servo my_servo]
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pin: PH4
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[heater_bed]
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heater_pin: PH5
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sensor_type: EPCOS 100K B57560G104F
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sensor_pin: PK6
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control: watermark
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min_temp: 0
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max_temp: 130
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[mcu]
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serial: /dev/ttyACM0
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[printer]
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kinematics: generic_cartesian
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max_velocity: 300
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max_accel: 3000
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max_z_velocity: 5
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max_z_accel: 100
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[input_shaper]
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64
test/klippy/generic_cartesian.test
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64
test/klippy/generic_cartesian.test
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@@ -0,0 +1,64 @@
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# Test cases on printers with dual carriage and multiple extruders
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CONFIG generic_cartesian.cfg
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DICTIONARY atmega2560.dict
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# Configure the input shaper
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SET_DUAL_CARRIAGE CARRIAGE=u
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SET_INPUT_SHAPER SHAPER_TYPE_X=ei SHAPER_FREQ_X=50 SHAPER_TYPE_Y=2hump_ei SHAPER_FREQ_Y=80
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SET_DUAL_CARRIAGE CARRIAGE=x
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SET_INPUT_SHAPER SHAPER_TYPE_X=ei SHAPER_FREQ_X=50 SHAPER_TYPE_Y=2hump_ei SHAPER_FREQ_Y=80
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# Then home the printer
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G90
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G28
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# Perform a dummy move
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G1 X10 F6000
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# Activate alternate carriage
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SET_DUAL_CARRIAGE CARRIAGE=u
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G1 X190 F6000
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# Go back to main carriage
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SET_DUAL_CARRIAGE CARRIAGE=x
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G1 X100 F6000
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# Save dual carriage state
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SAVE_DUAL_CARRIAGE_STATE
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G1 X50 F6000
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# Go back to alternate carriage
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SET_DUAL_CARRIAGE CARRIAGE=u
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G1 X130 F6000
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# Restore dual carriage state
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RESTORE_DUAL_CARRIAGE_STATE MOVE=1
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# Test changing extruders
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G1 X5
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T1
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G91
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G1 X-10 E.2
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T0
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G91
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G1 X20 E.2
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G90
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# Test changing the stepper kinematics
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SET_STEPPER_CARRIAGES STEPPER=dual_carriage CARRIAGES=u+y1
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SET_STEPPER_CARRIAGES STEPPER=stepper_x CARRIAGES=x-y
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G1 X30 E.2
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G1 Z3
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QUERY_ENDSTOPS
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# Servo tests
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SET_SERVO servo=my_servo angle=160
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SET_SERVO servo=my_servo angle=130
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# Verify STEPPER_BUZZ
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STEPPER_BUZZ STEPPER='stepper dual_carriage'
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STEPPER_BUZZ STEPPER=extruder
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STEPPER_BUZZ STEPPER=extruder1
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Reference in New Issue
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