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

- 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>
2025-07-21 21:58:05 -06:00 · 2021-06-28 00:37:05 +02:00 · 2021-06-28 00:37:05 +02:00 · 4d559633e3
commit 4d559633e3
parent 274d52729a
6 changed files with 233 additions and 9 deletions
--- a/klippy/kinematics/idex_modes.py
+++ b/klippy/kinematics/idex_modes.py
@ -0,0 +1,105 @@
+# Support for duplication and mirroring modes for IDEX printers
+#
+# Copyright (C) 2021  Fabrice Gallet <tircown@gmail.com>
+#
+# This file may be distributed under the terms of the GNU GPLv3 license.
+import math
+
+class DualCarriages:
+    def __init__(self, printer, rail_0, rail_1, axis):
+        self.printer = printer
+        self.axis = axis
+        self.dc = (rail_0, rail_1)
+        self.saved_state = None
+        self.printer.add_object('dual_carriage', self)
+        gcode = self.printer.lookup_object('gcode')
+        gcode.register_command(
+                   'SET_DUAL_CARRIAGE', self.cmd_SET_DUAL_CARRIAGE,
+                   desc=self.cmd_SET_DUAL_CARRIAGE_help)
+    def toggle_active_dc_rail(self, index):
+        toolhead = self.printer.lookup_object('toolhead')
+        toolhead.flush_step_generation()
+        pos = toolhead.get_position()
+        kin = toolhead.get_kinematics()
+        for i, dc in enumerate(self.dc):
+            dc_rail = dc.get_rail()
+            if i != index:
+                dc.inactivate(pos)
+                kin.override_rail(3, dc_rail)
+            elif dc.is_active() is False:
+                newpos = pos[:self.axis] + [dc.axis_position] \
+                            + pos[self.axis+1:]
+                dc.activate(newpos)
+                kin.override_rail(self.axis, dc_rail)
+                toolhead.set_position(newpos)
+                kin.update_limits(self.axis, dc_rail.get_range())
+    def get_status(self, eventtime):
+        dc0, dc1 = self.dc
+        if (dc0.is_active() is True):
+            return { 'mode': 'FULL_CONTROL', 'active_carriage': 'CARRIAGE_0' }
+        else:
+            return { 'mode': 'FULL_CONTROL', 'active_carriage': 'CARRIAGE_1' }
+    def save_idex_state(self):
+        dc0, dc1 = self.dc
+        if (dc0.is_active() is True):
+            mode, active_carriage = ('FULL_CONTROL', 'CARRIAGE_0')
+        else:
+            mode, active_carriage = ('FULL_CONTROL', 'CARRIAGE_1')
+        self.saved_state = {
+            'mode': mode,
+            'active_carriage': active_carriage,
+            'axis_positions': (dc0.axis_position, dc1.axis_position)
+            }
+    def restore_idex_state(self):
+        if self.saved_state is not None:
+            # set carriage 0 active
+            if (self.saved_state['active_carriage'] == 'CARRIAGE_0'
+                        and self.dc[0].is_active() is False):
+                self.toggle_active_dc_rail(0)
+            # set carriage 1 active
+            elif (self.saved_state['active_carriage'] == 'CARRIAGE_1'
+                        and self.dc[1].is_active() is False):
+                self.toggle_active_dc_rail(1)
+    cmd_SET_DUAL_CARRIAGE_help = "Set which carriage is active"
+    def cmd_SET_DUAL_CARRIAGE(self, gcmd):
+        index = gcmd.get_int('CARRIAGE', minval=0, maxval=1)
+        if (not(self.dc[0].is_active() == self.dc[1].is_active() == True)
+                    and self.dc[index].is_active() is False):
+            self.toggle_active_dc_rail(index)
+
+class DualCarriagesRail:
+    ACTIVE=1
+    INACTIVE=2
+    def __init__(self, printer, rail, axis, active, stepper_alloc_active,
+                 stepper_alloc_inactive=None):
+        self.printer = printer
+        self.rail = rail
+        self.axis = axis
+        self.status = (self.INACTIVE, self.ACTIVE)[active]
+        self.stepper_alloc_active = stepper_alloc_active
+        self.stepper_alloc_inactive = stepper_alloc_inactive
+        self.axis_position = -1
+    def _stepper_alloc(self, position, active=True):
+        toolhead = self.printer.lookup_object('toolhead')
+        self.axis_position = position[self.axis]
+        self.rail.set_trapq(None)
+        if active is True:
+            self.status = self.ACTIVE
+            if self.stepper_alloc_active is not None:
+                self.rail.setup_itersolve(*self.stepper_alloc_active)
+                self.rail.set_position(position)
+                self.rail.set_trapq(toolhead.get_trapq())
+        else:
+            self.status = self.INACTIVE
+            if self.stepper_alloc_inactive is not None:
+                self.rail.setup_itersolve(*self.stepper_alloc_inactive)
+                self.rail.set_position(position)
+                self.rail.set_trapq(toolhead.get_trapq())
+    def get_rail(self):
+        return self.rail
+    def is_active(self):
+        return self.status == self.ACTIVE
+    def activate(self, position):
+        self._stepper_alloc(position, active=True)
+    def inactivate(self, position):
+        self._stepper_alloc(position, active=False)