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generic_cartesian: Added option 'axis' for primary carriages
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This also enables arbitrary using names for primary carriages
with generic_cartesian kinematics.

Signed-off-by: Dmitry Butyugin <dmbutyugin@google.com>
This commit is contained in:
Dmitry Butyugin 2025-10-04 23:14:42 +02:00 • committed by KevinOConnor
parent 0ba01beaa8
commit 79189203e2
12 changed files with 201 additions and 157 deletions
Download patch file Download diff file Expand all files Collapse all files

49
test/klippy/corexyuv.cfg
View file

@ -1,35 +1,38 @@
# Test config for generic cartesian kinematics with dual carriage
[carriage x]
[carriage carriage_x]
axis: x
position_endstop: 0
position_max: 300
homing_speed: 50
endstop_pin: ^PE5
[carriage y]
[carriage carriage_y]
axis: y
position_endstop: 0
position_max: 200
homing_speed: 50
endstop_pin: ^PJ1
[carriage z]
[carriage carriage_z]
axis: z
position_endstop: 0.5
position_max: 100
endstop_pin: ^PD3
[extra_carriage z1]
primary_carriage: z
[extra_carriage carriage_z1]
primary_carriage: carriage_z
endstop_pin: ^PD2
[dual_carriage u]
primary_carriage: x
[dual_carriage carriage_u]
primary_carriage: carriage_x
safe_distance: 70
position_endstop: 300
position_max: 300
homing_speed: 50
endstop_pin: ^PE4
[dual_carriage v]
primary_carriage: y
[dual_carriage carriage_v]
primary_carriage: carriage_y
safe_distance: 50
position_endstop: 200
position_max: 200
@ -37,7 +40,7 @@ homing_speed: 50
endstop_pin: ^PD4
[stepper a]
carriages: x+y
carriages: carriage_x+carriage_y
step_pin: PF0
dir_pin: PF1
enable_pin: !PD7
@ -45,7 +48,7 @@ microsteps: 16
rotation_distance: 40
[stepper b]
carriages: u-v
carriages: carriage_u-carriage_v
step_pin: PH1
dir_pin: PH0
enable_pin: !PA1
@ -53,7 +56,7 @@ microsteps: 16
rotation_distance: 40
[stepper c]
carriages: x-y
carriages: carriage_x-carriage_y
step_pin: PF6
dir_pin: !PF7
enable_pin: !PF2
@ -61,7 +64,7 @@ microsteps: 16
rotation_distance: 40
[stepper d]
carriages: u+v
carriages: carriage_u+carriage_v
step_pin: PE3
dir_pin: !PH6
enable_pin: !PG5
@ -69,7 +72,7 @@ microsteps: 16
rotation_distance: 40
[stepper z]
carriages: z
carriages: carriage_z
step_pin: PL3
dir_pin: PL1
enable_pin: !PK0
@ -77,7 +80,7 @@ microsteps: 16
rotation_distance: 8
[stepper z1]
carriages: z1
carriages: carriage_z1
step_pin: PG1
dir_pin: PG0
enable_pin: !PH3
@ -104,8 +107,8 @@ max_temp: 250
[gcode_macro PARK_extruder]
gcode:
SET_DUAL_CARRIAGE CARRIAGE=x
SET_DUAL_CARRIAGE CARRIAGE=y
SET_DUAL_CARRIAGE CARRIAGE=carriage_x
SET_DUAL_CARRIAGE CARRIAGE=carriage_y
G90
G1 X0 Y0
@ -114,8 +117,8 @@ gcode:
PARK_{printer.toolhead.extruder}
SET_SERVO SERVO=my_servo angle=100
ACTIVATE_EXTRUDER EXTRUDER=extruder
SET_DUAL_CARRIAGE CARRIAGE=x
SET_DUAL_CARRIAGE CARRIAGE=y
SET_DUAL_CARRIAGE CARRIAGE=carriage_x
SET_DUAL_CARRIAGE CARRIAGE=carriage_y
[extruder1]
step_pin: PC1
@ -137,8 +140,8 @@ max_temp: 250
[gcode_macro PARK_extruder1]
gcode:
SET_DUAL_CARRIAGE CARRIAGE=u
SET_DUAL_CARRIAGE CARRIAGE=v
SET_DUAL_CARRIAGE CARRIAGE=carriage_u
SET_DUAL_CARRIAGE CARRIAGE=carriage_v
G90
G1 X300 Y200
@ -147,8 +150,8 @@ gcode:
PARK_{printer.toolhead.extruder}
SET_SERVO SERVO=my_servo angle=50
ACTIVATE_EXTRUDER EXTRUDER=extruder1
SET_DUAL_CARRIAGE CARRIAGE=u
SET_DUAL_CARRIAGE CARRIAGE=v
SET_DUAL_CARRIAGE CARRIAGE=carriage_u
SET_DUAL_CARRIAGE CARRIAGE=carriage_v
[servo my_servo]
pin: PH4

8
test/klippy/corexyuv.test
View file

@ -10,12 +10,12 @@ G28
G1 X10 Y20 F6000
# Activate alternate carriage
SET_DUAL_CARRIAGE CARRIAGE=u
SET_DUAL_CARRIAGE CARRIAGE=v
SET_DUAL_CARRIAGE CARRIAGE=carriage_u
SET_DUAL_CARRIAGE CARRIAGE=carriage_v
G1 X170 Y190 F6000
# Go back to main carriage on X axis
SET_DUAL_CARRIAGE CARRIAGE=x
SET_DUAL_CARRIAGE CARRIAGE=carriage_x
G1 X20 F6000
# Save dual carriage state
@ -24,7 +24,7 @@ SAVE_DUAL_CARRIAGE_STATE
G1 Y150 F6000
# Go back to main carriage on Y axis
SET_DUAL_CARRIAGE CARRIAGE=y
SET_DUAL_CARRIAGE CARRIAGE=carriage_y
G1 X10 Y50 F6000
# Restore dual carriage state

41
test/klippy/generic_cartesian.cfg
View file

@ -1,38 +1,41 @@
# Test config for generic cartesian kinematics with dual carriage
[carriage x]
[carriage carriage_x]
axis: x
position_endstop: 0
position_max: 300
homing_speed: 50
endstop_pin: ^PE5
[carriage y]
[carriage carriage_y]
axis: y
position_endstop: 0
position_max: 200
homing_speed: 50
endstop_pin: ^PJ1
[extra_carriage y1]
primary_carriage: y
[extra_carriage carriage_y1]
primary_carriage: carriage_y
endstop_pin: ^PB6
[carriage z]
[carriage carriage_z]
axis: z
position_endstop: 0.5
position_max: 100
endstop_pin: ^PD3
[extra_carriage z1]
primary_carriage: z
[extra_carriage carriage_z1]
primary_carriage: carriage_z
endstop_pin: ^PD2
[dual_carriage u]
primary_carriage: x
[dual_carriage carriage_u]
primary_carriage: carriage_x
position_endstop: 300
position_max: 300
homing_speed: 50
endstop_pin: ^PE4
[stepper stepper_x]
carriages: x+y
carriages: carriage_x+carriage_y
step_pin: PF0
dir_pin: PF1
enable_pin: !PD7
@ -40,7 +43,7 @@ microsteps: 16
rotation_distance: 40
[stepper dual_carriage]
carriages: u-y1
carriages: carriage_u-carriage_y1
step_pin: PH1
dir_pin: PH0
enable_pin: !PA1
@ -48,7 +51,7 @@ microsteps: 16
rotation_distance: 40
[stepper stepper_y]
carriages: 1*y+0.5*z
carriages: 1*carriage_y+0.5*carriage_z
step_pin: PF6
dir_pin: !PF7
enable_pin: !PF2
@ -56,7 +59,7 @@ microsteps: 16
rotation_distance: 40
[stepper stepper_y1]
carriages: 1*y1-0.5*z1
carriages: 1*carriage_y1-0.5*carriage_z1
step_pin: PE3
dir_pin: !PH6
enable_pin: !PG5
@ -64,7 +67,7 @@ microsteps: 16
rotation_distance: 40
[stepper stepper_z]
carriages: z
carriages: carriage_z
step_pin: PL3
dir_pin: PL1
enable_pin: !PK0
@ -72,7 +75,7 @@ microsteps: 16
rotation_distance: 8
[stepper stepper_z1]
carriages: z1
carriages: carriage_z1
step_pin: PG1
dir_pin: PG0
enable_pin: !PH3
@ -99,7 +102,7 @@ max_temp: 250
[gcode_macro PARK_extruder]
gcode:
SET_DUAL_CARRIAGE CARRIAGE=x
SET_DUAL_CARRIAGE CARRIAGE=carriage_x
G90
G1 X0
@ -108,7 +111,7 @@ gcode:
PARK_{printer.toolhead.extruder}
SET_SERVO SERVO=my_servo angle=100
ACTIVATE_EXTRUDER EXTRUDER=extruder
SET_DUAL_CARRIAGE CARRIAGE=x
SET_DUAL_CARRIAGE CARRIAGE=carriage_x
[extruder1]
step_pin: PC1
@ -130,7 +133,7 @@ max_temp: 250
[gcode_macro PARK_extruder1]
gcode:
SET_DUAL_CARRIAGE CARRIAGE=u
SET_DUAL_CARRIAGE CARRIAGE=carriage_u
G90
G1 X300
@ -139,7 +142,7 @@ gcode:
PARK_{printer.toolhead.extruder}
SET_SERVO SERVO=my_servo angle=50
ACTIVATE_EXTRUDER EXTRUDER=extruder1
SET_DUAL_CARRIAGE CARRIAGE=u
SET_DUAL_CARRIAGE CARRIAGE=carriage_u
[servo my_servo]
pin: PH4

14
test/klippy/generic_cartesian.test
View file

@ -3,9 +3,9 @@ CONFIG generic_cartesian.cfg
DICTIONARY atmega2560.dict
# Configure the input shaper
SET_DUAL_CARRIAGE CARRIAGE=u
SET_DUAL_CARRIAGE 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_DUAL_CARRIAGE 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
@ -16,11 +16,11 @@ G28
G1 X10 F6000
# Activate alternate carriage
SET_DUAL_CARRIAGE CARRIAGE=u
SET_DUAL_CARRIAGE CARRIAGE=carriage_u
G1 X190 F6000
# Go back to main carriage
SET_DUAL_CARRIAGE CARRIAGE=x
SET_DUAL_CARRIAGE CARRIAGE=carriage_x
G1 X100 F6000
# Save dual carriage state
@ -29,7 +29,7 @@ SAVE_DUAL_CARRIAGE_STATE
G1 X50 F6000
# Go back to alternate carriage
SET_DUAL_CARRIAGE CARRIAGE=u
SET_DUAL_CARRIAGE CARRIAGE=carriage_u
G1 X130 F6000
# Restore dual carriage state
@ -46,8 +46,8 @@ 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
SET_STEPPER_CARRIAGES STEPPER=dual_carriage CARRIAGES=carriage_u+carriage_y1
SET_STEPPER_CARRIAGES STEPPER=stepper_x CARRIAGES=carriage_x-carriage_y
G1 X30 E.2
G1 Z3