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kinematics: Add dual_carriage to hybrid-corexyz (#4296)

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- Add dual_carriage abilities for hybrid-corexy and hybrid-corexz
- Introduce the module idex_mode
- Fix add_stepper to the correct rail in hybrid-corexy

Signed-off-by: Fabrice GALLET <tircown@gmail.com>
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Tircown 2021-06-28 00:37:05 +02:00 • committed by GitHub
parent 274d52729a
commit 4d559633e3
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6 changed files with 233 additions and 9 deletions
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45
klippy/kinematics/hybrid_corexy.py
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@ -4,7 +4,7 @@
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import logging
import stepper
import stepper, idex_modes
# The hybrid-corexy kinematic is also known as Markforged kinematics
class HybridCoreXYKinematics:
@ -15,7 +15,7 @@ class HybridCoreXYKinematics:
self.rails = [ stepper.PrinterRail(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(
self.rails[1].get_endstops()[0][0].add_stepper(
self.rails[0].get_steppers()[0])
self.rails[0].setup_itersolve('corexy_stepper_alloc', '-')
self.rails[1].setup_itersolve('cartesian_stepper_alloc', 'y')
@ -23,6 +23,26 @@ class HybridCoreXYKinematics:
ranges = [r.get_range() for r in self.rails]
self.axes_min = toolhead.Coord(*[r[0] for r in ranges], e=0.)
self.axes_max = toolhead.Coord(*[r[1] for r in ranges], e=0.)
self.dc_module = None
if config.has_section('dual_carriage'):
dc_config = config.getsection('dual_carriage')
# dummy for cartesian config users
dc_config.getchoice('axis', {'x': 'x'}, default='x')
# setup second dual carriage rail
self.rails.append(stepper.PrinterRail(dc_config))
self.rails[1].get_endstops()[0][0].add_stepper(
self.rails[3].get_steppers()[0])
self.rails[3].setup_itersolve('cartesian_stepper_alloc', 'y')
dc_rail_0 = idex_modes.DualCarriagesRail(
self.printer, self.rails[0], axis=0, active=True,
stepper_alloc_active=('corexy_stepper_alloc','-'),
stepper_alloc_inactive=('cartesian_reverse_stepper_alloc','y'))
dc_rail_1 = idex_modes.DualCarriagesRail(
self.printer, self.rails[3], axis=0, active=False,
stepper_alloc_active=('corexy_stepper_alloc','+'),
stepper_alloc_inactive=('cartesian_stepper_alloc','y'))
self.dc_module = idex_modes.DualCarriages(self.printer,
dc_rail_0, dc_rail_1, axis=0)
for s in self.get_steppers():
s.set_trapq(toolhead.get_trapq())
toolhead.register_step_generator(s.generate_steps)
@ -39,7 +59,15 @@ class HybridCoreXYKinematics:
return [s for rail in self.rails for s in rail.get_steppers()]
def calc_position(self, stepper_positions):
pos = [stepper_positions[rail.get_name()] for rail in self.rails]
return [pos[0] + pos[1], pos[1], pos[2]]
if (self.dc_module is not None and 'CARRIAGE_1' == \
self.dc_module.get_status()['active_carriage']):
return [pos[0] - pos[1], pos[1], pos[2]]
else:
return [pos[0] + pos[1], pos[1], pos[2]]
def update_limits(self, i, range):
self.limits[i] = range
def override_rail(self, i, rail):
self.rails[i] = rail
def set_position(self, newpos, homing_axes):
for i, rail in enumerate(self.rails):
rail.set_position(newpos)
@ -62,7 +90,14 @@ class HybridCoreXYKinematics:
homing_state.home_rails([rail], forcepos, homepos)
def home(self, homing_state):
for axis in homing_state.get_axes():
self._home_axis(homing_state, axis, self.rails[axis])
if (self.dc_module is not None and axis == 0):
self.dc_module.save_idex_state()
for i in [0,1]:
self.dc_module.toggle_active_dc_rail(i)
self._home_axis(homing_state, axis, self.rails[0])
self.dc_module.restore_idex_state()
else:
self._home_axis(homing_state, axis, self.rails[axis])
def _motor_off(self, print_time):
self.limits = [(1.0, -1.0)] * 3
def _check_endstops(self, move):
@ -93,7 +128,7 @@ class HybridCoreXYKinematics:
return {
'homed_axes': "".join(axes),
'axis_minimum': self.axes_min,
'axis_maximum': self.axes_max,
'axis_maximum': self.axes_max
}
def load_kinematics(toolhead, config):