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input_shaper: Track kinematics updates by dual_carriage

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Signed-off-by: Dmitry Butyugin <dmbutyugin@google.com>
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Dmitry Butyugin 2025-05-23 01:44:47 +02:00 • committed by KevinOConnor
parent 14cbb8dd2d
commit 4d4b9684a5
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21
docs/Config_Reference.md
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@ -2482,6 +2482,27 @@ carriages: u-y
...
```
`[dual_carriage]` requires special configuration for the input shaper.
In general, it is necessary to run input shaper calibration twice -
for the `dual_carriage` and its `primary_carriage` for the axis they
share. Then the input shaper can be configured as follows, assuming the
example above:
```
[input_shaper]
# Intentionally empty
[delayed_gcode init_shaper]
initial_duration: 0.1
gcode:
SET_DUAL_CARRIAGE CARRIAGE=u
SET_INPUT_SHAPER SHAPER_TYPE_X=<dual_carriage_x_shaper> SHAPER_FREQ_X=<dual_carriage_x_freq> SHAPER_TYPE_Y=<y_shaper> SHAPER_FREQ_Y=<y_freq>
SET_DUAL_CARRIAGE CARRIAGE=x
SET_INPUT_SHAPER SHAPER_TYPE_X=<primary_carriage_x_shaper> SHAPER_FREQ_X=<primary_carriage_x_freq> SHAPER_TYPE_Y=<y_shaper> SHAPER_FREQ_Y=<y_freq>
```
Note that `SHAPER_TYPE_Y` and `SHAPER_FREQ_Y` must be the same in both
commands in this case, since the same motors drive Y axis when either
of the `x` and `u` carriages are active.
It is worth noting that `generic_cartesian` kinematic can support two
dual carriages for X and Y axes. For reference, see for instance a
[sample](../config/sample-corexyuv.cfg) of CoreXYUV configuration.