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idex_modes: Improved restoring position in RESTORE_DUAL_CARRIAGE_STATE

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Previous implementation could crash the idex carriages into each other.
The new code moves the idex carriages together, eliminating this risk
and decreasing the time needed to restore the carriages positions.

Signed-off-by: Dmitry Butyugin <dmbutyugin@google.com>
This commit is contained in:
Dmitry Butyugin 2024-07-14 20:12:32 +02:00 • committed by KevinOConnor
parent 13c75ea876
commit ba2a149e9a
3 changed files with 41 additions and 7 deletions
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34
klippy/kinematics/idex_modes.py
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@ -4,7 +4,7 @@
# Copyright (C) 2023 Dmitry Butyugin <dmbutyugin@google.com>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import math
import logging, math
import chelper
INACTIVE = 'INACTIVE'
@ -202,14 +202,31 @@ class DualCarriages:
move_speed = gcmd.get_float('MOVE_SPEED', 0., above=0.)
toolhead = self.printer.lookup_object('toolhead')
toolhead.flush_step_generation()
pos = toolhead.get_position()
if gcmd.get_int('MOVE', 1):
homing_speed = 99999999.
cur_pos = []
for i, dc in enumerate(self.dc):
self.toggle_active_dc_rail(i)
saved_pos = saved_state['axes_positions'][i]
toolhead.manual_move(
pos[:self.axis] + [saved_pos] + pos[self.axis+1:],
move_speed or dc.get_rail().homing_speed)
homing_speed = min(homing_speed, dc.get_rail().homing_speed)
cur_pos.append(toolhead.get_position())
move_pos = list(cur_pos[0])
dl = [saved_state['axes_positions'][i] - cur_pos[i][self.axis]
for i in range(2)]
primary_ind = 0 if abs(dl[0]) >= abs(dl[1]) else 1
self.toggle_active_dc_rail(primary_ind)
move_pos[self.axis] = saved_state['axes_positions'][primary_ind]
dc_mode = INACTIVE if min(abs(dl[0]), abs(dl[1])) < 0.000000001 \
else COPY if dl[0] * dl[1] > 0 else MIRROR
if dc_mode != INACTIVE:
self.dc[1-primary_ind].activate(dc_mode, cur_pos[primary_ind])
self.dc[1-primary_ind].override_axis_scaling(
abs(dl[1-primary_ind] / dl[primary_ind]),
cur_pos[primary_ind])
toolhead.manual_move(move_pos, move_speed or homing_speed)
toolhead.flush_step_generation()
# Make sure the scaling coefficients are restored with the mode
self.dc[0].inactivate(move_pos)
self.dc[1].inactivate(move_pos)
for i, dc in enumerate(self.dc):
saved_mode = saved_state['carriage_modes'][i]
self.activate_dc_mode(i, saved_mode)
@ -257,3 +274,8 @@ class DualCarriagesRail:
self.scale = 0.
self.apply_transform()
self.mode = INACTIVE
def override_axis_scaling(self, new_scale, position):
old_axis_position = self.get_axis_position(position)
self.scale = math.copysign(new_scale, self.scale)
self.offset = old_axis_position - position[self.axis] * self.scale
self.apply_transform()