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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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test/klippy/generic_cartesian.test Normal file
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# Test cases on printers with dual carriage and multiple extruders
CONFIG generic_cartesian.cfg
DICTIONARY atmega2560.dict
# Configure the input shaper
SET_DUAL_CARRIAGE CARRIAGE=u
SET_INPUT_SHAPER SHAPER_TYPE_X=ei SHAPER_FREQ_X=50 SHAPER_TYPE_Y=2hump_ei SHAPER_FREQ_Y=80
SET_DUAL_CARRIAGE CARRIAGE=x
SET_INPUT_SHAPER SHAPER_TYPE_X=ei SHAPER_FREQ_X=50 SHAPER_TYPE_Y=2hump_ei SHAPER_FREQ_Y=80
# Then home the printer
G90
G28
# Perform a dummy move
G1 X10 F6000
# Activate alternate carriage
SET_DUAL_CARRIAGE CARRIAGE=u
G1 X190 F6000
# Go back to main carriage
SET_DUAL_CARRIAGE CARRIAGE=x
G1 X100 F6000
# Save dual carriage state
SAVE_DUAL_CARRIAGE_STATE
G1 X50 F6000
# Go back to alternate carriage
SET_DUAL_CARRIAGE CARRIAGE=u
G1 X130 F6000
# Restore dual carriage state
RESTORE_DUAL_CARRIAGE_STATE MOVE=1
# Test changing extruders
G1 X5
T1
G91
G1 X-10 E.2
T0
G91
G1 X20 E.2
G90
# Test changing the stepper kinematics
SET_STEPPER_CARRIAGES STEPPER=dual_carriage CARRIAGES=u+y1
SET_STEPPER_CARRIAGES STEPPER=stepper_x CARRIAGES=x-y
G1 X30 E.2
G1 Z3
QUERY_ENDSTOPS
# Servo tests
SET_SERVO servo=my_servo angle=160
SET_SERVO servo=my_servo angle=130
# Verify STEPPER_BUZZ
STEPPER_BUZZ STEPPER='stepper dual_carriage'
STEPPER_BUZZ STEPPER=extruder
STEPPER_BUZZ STEPPER=extruder1