2016-07-07 15:52:44 -04:00
										 
									 
								 
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								# Code for handling the kinematics of cartesian robots
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								#
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								# Copyright (C) 2016-2018  Kevin O'Connor <kevin@koconnor.net>
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								#
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								# This file may be distributed under the terms of the GNU GPLv3 license.
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											2016-07-07 15:52:44 -04:00
										 
									 
								 
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								import logging
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								import stepper, homing, chelper
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								class CartKinematics:
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								    def __init__(self, toolhead, config):
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								        self.printer = config.get_printer()
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								        self.rails = [stepper.LookupMultiRail(config.getsection('stepper_' + n))
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								                      for n in ['x', 'y', 'z']]
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								        max_velocity, max_accel = toolhead.get_max_velocity()
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								        self.max_z_velocity = config.getfloat(
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								            'max_z_velocity', max_velocity, above=0., maxval=max_velocity)
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								        self.max_z_accel = config.getfloat(
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								            'max_z_accel', max_accel, above=0., maxval=max_accel)
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								        self.need_motor_enable = True
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								        self.limits = [(1.0, -1.0)] * 3
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								        # Setup iterative solver
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								        ffi_main, ffi_lib = chelper.get_ffi()
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								        self.cmove = ffi_main.gc(ffi_lib.move_alloc(), ffi_lib.free)
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								        self.move_fill = ffi_lib.move_fill
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								        for axis, rail in zip('xyz', self.rails):
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								            rail.setup_cartesian_itersolve(axis)
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								        # Setup stepper max halt velocity
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								        max_halt_velocity = toolhead.get_max_axis_halt()
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								        self.rails[0].set_max_jerk(max_halt_velocity, max_accel)
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								        self.rails[1].set_max_jerk(max_halt_velocity, max_accel)
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								        self.rails[2].set_max_jerk(
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								            min(max_halt_velocity, self.max_z_velocity), max_accel)
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								        # Check for dual carriage support
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								        self.dual_carriage_axis = None
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								        self.dual_carriage_rails = []
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								        if config.has_section('dual_carriage'):
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								            dc_config = config.getsection('dual_carriage')
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								            dc_axis = dc_config.getchoice('axis', {'x': 'x', 'y': 'y'})
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								            self.dual_carriage_axis = {'x': 0, 'y': 1}[dc_axis]
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								            dc_rail = stepper.LookupMultiRail(dc_config)
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								            dc_rail.setup_cartesian_itersolve(dc_axis)
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								            dc_rail.set_max_jerk(max_halt_velocity, max_accel)
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								            self.dual_carriage_rails = [
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								                self.rails[self.dual_carriage_axis], dc_rail]
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								            self.printer.lookup_object('gcode').register_command(
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								                'SET_DUAL_CARRIAGE', self.cmd_SET_DUAL_CARRIAGE,
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								                desc=self.cmd_SET_DUAL_CARRIAGE_help)
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								    def get_rails(self, flags=""):
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								        if flags == "Z":
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								            return [self.rails[2]]
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								        return list(self.rails)
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								    def calc_position(self):
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								        return [rail.get_commanded_position() for rail in self.rails]
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								    def set_position(self, newpos, homing_axes):
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								        for i, rail in enumerate(self.rails):
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								            rail.set_position(newpos)
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								            if i in homing_axes:
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								                self.limits[i] = rail.get_range()
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								    def _home_axis(self, homing_state, axis, rail):
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								        # Determine moves
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								        position_min, position_max = rail.get_range()
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								        hi = rail.get_homing_info()
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								        if hi.positive_dir:
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								            pos = hi.position_endstop - 1.5*(hi.position_endstop - position_min)
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								            rpos = hi.position_endstop - hi.retract_dist
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								            r2pos = rpos - hi.retract_dist
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								        else:
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								            pos = hi.position_endstop + 1.5*(position_max - hi.position_endstop)
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								            rpos = hi.position_endstop + hi.retract_dist
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								            r2pos = rpos + hi.retract_dist
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								        # Initial homing
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								        homing_speed = hi.speed
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								        if axis == 2:
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								            homing_speed = min(homing_speed, self.max_z_velocity)
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								        homepos = [None, None, None, None]
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								        homepos[axis] = hi.position_endstop
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								        coord = [None, None, None, None]
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								        coord[axis] = pos
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								        homing_state.home(coord, homepos, rail.get_endstops(), homing_speed)
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								        # Retract
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								        coord[axis] = rpos
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								        homing_state.retract(coord, homing_speed)
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								        # Home again
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								        coord[axis] = r2pos
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								        homing_state.home(coord, homepos, rail.get_endstops(),
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								                          homing_speed/2.0, second_home=True)
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								        # Set final homed position
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								        coord[axis] = hi.position_endstop + rail.get_homed_offset()
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								        homing_state.set_homed_position(coord)
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								    def home(self, homing_state):
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								        # Each axis is homed independently and in order
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								        for axis in homing_state.get_axes():
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								            if axis == self.dual_carriage_axis:
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								                dc1, dc2 = self.dual_carriage_rails
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								                altc = self.rails[axis] == dc2
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								                self._activate_carriage(0)
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								                self._home_axis(homing_state, axis, dc1)
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								                self._activate_carriage(1)
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								                self._home_axis(homing_state, axis, dc2)
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								                self._activate_carriage(altc)
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								            else:
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								                self._home_axis(homing_state, axis, self.rails[axis])
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								    def motor_off(self, print_time):
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								        self.limits = [(1.0, -1.0)] * 3
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								        for rail in self.rails:
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								            rail.motor_enable(print_time, 0)
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								        for rail in self.dual_carriage_rails:
							 | 
						
					
						
							| 
								
							 | 
							
								
							 | 
							
								
							 | 
							
							
								            rail.motor_enable(print_time, 0)
							 | 
						
					
						
							
								
									
										
										
										
											2016-11-14 13:40:35 -05:00
										 
									 
								 
							 | 
							
								
									
										
									
								
							 | 
							
								
							 | 
							
							
								        self.need_motor_enable = True
							 | 
						
					
						
							
								
									
										
										
										
											2017-09-12 12:47:40 -04:00
										 
									 
								 
							 | 
							
								
									
										
									
								
							 | 
							
								
							 | 
							
							
								    def _check_motor_enable(self, print_time, move):
							 | 
						
					
						
							
								
									
										
										
										
											2016-11-14 13:40:35 -05:00
										 
									 
								 
							 | 
							
								
									
										
									
								
							 | 
							
								
							 | 
							
							
								        need_motor_enable = False
							 | 
						
					
						
							
								
									
										
										
										
											2018-06-22 13:20:17 -04:00
										 
									 
								 
							 | 
							
								
									
										
									
								
							 | 
							
								
							 | 
							
							
								        for i, rail in enumerate(self.rails):
							 | 
						
					
						
							
								
									
										
										
										
											2016-11-14 13:40:35 -05:00
										 
									 
								 
							 | 
							
								
									
										
									
								
							 | 
							
								
							 | 
							
							
								            if move.axes_d[i]:
							 | 
						
					
						
							
								
									
										
										
										
											2018-06-22 13:20:17 -04:00
										 
									 
								 
							 | 
							
								
									
										
									
								
							 | 
							
								
							 | 
							
							
								                rail.motor_enable(print_time, 1)
							 | 
						
					
						
							| 
								
							 | 
							
								
							 | 
							
								
							 | 
							
							
								            need_motor_enable |= not rail.is_motor_enabled()
							 | 
						
					
						
							
								
									
										
										
										
											2016-11-14 13:40:35 -05:00
										 
									 
								 
							 | 
							
								
									
										
									
								
							 | 
							
								
							 | 
							
							
								        self.need_motor_enable = need_motor_enable
							 | 
						
					
						
							
								
									
										
										
										
											2016-12-08 18:14:46 -05:00
										 
									 
								 
							 | 
							
								
									
										
									
								
							 | 
							
								
							 | 
							
							
								    def _check_endstops(self, move):
							 | 
						
					
						
							
								
									
										
										
										
											2016-10-25 19:11:05 -04:00
										 
									 
								 
							 | 
							
								
									
										
									
								
							 | 
							
								
							 | 
							
							
								        end_pos = move.end_pos
							 | 
						
					
						
							
								
									
										
										
										
											2018-06-22 13:20:17 -04:00
										 
									 
								 
							 | 
							
								
									
										
									
								
							 | 
							
								
							 | 
							
							
								        for i in (0, 1, 2):
							 | 
						
					
						
							
								
									
										
										
										
											2016-09-30 16:00:32 -04:00
										 
									 
								 
							 | 
							
								
									
										
									
								
							 | 
							
								
							 | 
							
							
								            if (move.axes_d[i]
							 | 
						
					
						
							
								
									
										
										
										
											2016-10-25 19:11:05 -04:00
										 
									 
								 
							 | 
							
								
									
										
									
								
							 | 
							
								
							 | 
							
							
								                and (end_pos[i] < self.limits[i][0]
							 | 
						
					
						
							| 
								
							 | 
							
								
							 | 
							
								
							 | 
							
							
								                     or end_pos[i] > self.limits[i][1])):
							 | 
						
					
						
							
								
									
										
										
										
											2016-09-30 16:00:32 -04:00
										 
									 
								 
							 | 
							
								
									
										
									
								
							 | 
							
								
							 | 
							
							
								                if self.limits[i][0] > self.limits[i][1]:
							 | 
						
					
						
							
								
									
										
										
										
											2016-11-18 12:42:39 -05:00
										 
									 
								 
							 | 
							
								
									
										
									
								
							 | 
							
								
							 | 
							
							
								                    raise homing.EndstopMoveError(
							 | 
						
					
						
							| 
								
							 | 
							
								
							 | 
							
								
							 | 
							
							
								                        end_pos, "Must home axis first")
							 | 
						
					
						
							| 
								
							 | 
							
								
							 | 
							
								
							 | 
							
							
								                raise homing.EndstopMoveError(end_pos)
							 | 
						
					
						
							
								
									
										
										
										
											2016-09-30 14:47:45 -04:00
										 
									 
								 
							 | 
							
								
									
										
									
								
							 | 
							
								
							 | 
							
							
								    def check_move(self, move):
							 | 
						
					
						
							
								
									
										
										
										
											2016-09-30 16:00:32 -04:00
										 
									 
								 
							 | 
							
								
									
										
									
								
							 | 
							
								
							 | 
							
							
								        limits = self.limits
							 | 
						
					
						
							
								
									
										
										
										
											2016-10-25 19:11:05 -04:00
										 
									 
								 
							 | 
							
								
									
										
									
								
							 | 
							
								
							 | 
							
							
								        xpos, ypos = move.end_pos[:2]
							 | 
						
					
						
							
								
									
										
										
										
											2016-09-30 16:00:32 -04:00
										 
									 
								 
							 | 
							
								
									
										
									
								
							 | 
							
								
							 | 
							
							
								        if (xpos < limits[0][0] or xpos > limits[0][1]
							 | 
						
					
						
							| 
								
							 | 
							
								
							 | 
							
								
							 | 
							
							
								            or ypos < limits[1][0] or ypos > limits[1][1]):
							 | 
						
					
						
							
								
									
										
										
										
											2016-12-08 18:14:46 -05:00
										 
									 
								 
							 | 
							
								
									
										
									
								
							 | 
							
								
							 | 
							
							
								            self._check_endstops(move)
							 | 
						
					
						
							
								
									
										
										
										
											2016-09-30 14:47:45 -04:00
										 
									 
								 
							 | 
							
								
									
										
									
								
							 | 
							
								
							 | 
							
							
								        if not move.axes_d[2]:
							 | 
						
					
						
							| 
								
							 | 
							
								
							 | 
							
								
							 | 
							
							
								            # Normal XY move - use defaults
							 | 
						
					
						
							| 
								
							 | 
							
								
							 | 
							
								
							 | 
							
							
								            return
							 | 
						
					
						
							| 
								
							 | 
							
								
							 | 
							
								
							 | 
							
							
								        # Move with Z - update velocity and accel for slower Z axis
							 | 
						
					
						
							
								
									
										
										
										
											2016-12-08 18:14:46 -05:00
										 
									 
								 
							 | 
							
								
									
										
									
								
							 | 
							
								
							 | 
							
							
								        self._check_endstops(move)
							 | 
						
					
						
							
								
									
										
										
										
											2016-12-01 15:29:26 -05:00
										 
									 
								 
							 | 
							
								
									
										
									
								
							 | 
							
								
							 | 
							
							
								        z_ratio = move.move_d / abs(move.axes_d[2])
							 | 
						
					
						
							| 
								
							 | 
							
								
							 | 
							
								
							 | 
							
							
								        move.limit_speed(
							 | 
						
					
						
							| 
								
							 | 
							
								
							 | 
							
								
							 | 
							
							
								            self.max_z_velocity * z_ratio, self.max_z_accel * z_ratio)
							 | 
						
					
						
							
								
									
										
										
										
											2017-09-12 12:47:40 -04:00
										 
									 
								 
							 | 
							
								
									
										
									
								
							 | 
							
								
							 | 
							
							
								    def move(self, print_time, move):
							 | 
						
					
						
							
								
									
										
										
										
											2016-11-14 13:40:35 -05:00
										 
									 
								 
							 | 
							
								
									
										
									
								
							 | 
							
								
							 | 
							
							
								        if self.need_motor_enable:
							 | 
						
					
						
							
								
									
										
										
										
											2017-09-12 12:47:40 -04:00
										 
									 
								 
							 | 
							
								
									
										
									
								
							 | 
							
								
							 | 
							
							
								            self._check_motor_enable(print_time, move)
							 | 
						
					
						
							
								
									
										
										
										
											2018-06-09 14:56:05 -04:00
										 
									 
								 
							 | 
							
								
									
										
									
								
							 | 
							
								
							 | 
							
							
								        self.move_fill(
							 | 
						
					
						
							| 
								
							 | 
							
								
							 | 
							
								
							 | 
							
							
								            self.cmove, print_time,
							 | 
						
					
						
							| 
								
							 | 
							
								
							 | 
							
								
							 | 
							
							
								            move.accel_t, move.cruise_t, move.decel_t,
							 | 
						
					
						
							| 
								
							 | 
							
								
							 | 
							
								
							 | 
							
							
								            move.start_pos[0], move.start_pos[1], move.start_pos[2],
							 | 
						
					
						
							| 
								
							 | 
							
								
							 | 
							
								
							 | 
							
							
								            move.axes_d[0], move.axes_d[1], move.axes_d[2],
							 | 
						
					
						
							| 
								
							 | 
							
								
							 | 
							
								
							 | 
							
							
								            move.start_v, move.cruise_v, move.accel)
							 | 
						
					
						
							
								
									
										
										
										
											2018-06-22 13:20:17 -04:00
										 
									 
								 
							 | 
							
								
									
										
									
								
							 | 
							
								
							 | 
							
							
								        for i, rail in enumerate(self.rails):
							 | 
						
					
						
							
								
									
										
										
										
											2018-06-09 14:56:05 -04:00
										 
									 
								 
							 | 
							
								
									
										
									
								
							 | 
							
								
							 | 
							
							
								            if move.axes_d[i]:
							 | 
						
					
						
							
								
									
										
										
										
											2018-06-22 13:20:17 -04:00
										 
									 
								 
							 | 
							
								
									
										
									
								
							 | 
							
								
							 | 
							
							
								                rail.step_itersolve(self.cmove)
							 | 
						
					
						
							
								
									
										
										
										
											2018-03-02 14:11:00 -05:00
										 
									 
								 
							 | 
							
								
									
										
									
								
							 | 
							
								
							 | 
							
							
								    # Dual carriage support
							 | 
						
					
						
							| 
								
							 | 
							
								
							 | 
							
								
							 | 
							
							
								    def _activate_carriage(self, carriage):
							 | 
						
					
						
							| 
								
							 | 
							
								
							 | 
							
								
							 | 
							
							
								        toolhead = self.printer.lookup_object('toolhead')
							 | 
						
					
						
							| 
								
							 | 
							
								
							 | 
							
								
							 | 
							
							
								        toolhead.get_last_move_time()
							 | 
						
					
						
							
								
									
										
										
										
											2018-06-22 11:44:25 -04:00
										 
									 
								 
							 | 
							
								
									
										
									
								
							 | 
							
								
							 | 
							
							
								        dc_rail = self.dual_carriage_rails[carriage]
							 | 
						
					
						
							
								
									
										
										
										
											2018-03-02 14:11:00 -05:00
										 
									 
								 
							 | 
							
								
									
										
									
								
							 | 
							
								
							 | 
							
							
								        dc_axis = self.dual_carriage_axis
							 | 
						
					
						
							
								
									
										
										
										
											2018-06-22 11:44:25 -04:00
										 
									 
								 
							 | 
							
								
									
										
									
								
							 | 
							
								
							 | 
							
							
								        self.rails[dc_axis] = dc_rail
							 | 
						
					
						
							
								
									
										
										
										
											2018-03-02 14:11:00 -05:00
										 
									 
								 
							 | 
							
								
									
										
									
								
							 | 
							
								
							 | 
							
							
								        extruder_pos = toolhead.get_position()[3]
							 | 
						
					
						
							
								
									
										
										
										
											2018-06-22 12:27:37 -04:00
										 
									 
								 
							 | 
							
								
									
										
									
								
							 | 
							
								
							 | 
							
							
								        toolhead.set_position(self.calc_position() + [extruder_pos])
							 | 
						
					
						
							
								
									
										
										
										
											2018-03-02 14:11:00 -05:00
										 
									 
								 
							 | 
							
								
									
										
									
								
							 | 
							
								
							 | 
							
							
								        if self.limits[dc_axis][0] <= self.limits[dc_axis][1]:
							 | 
						
					
						
							
								
									
										
										
										
											2018-06-22 11:44:25 -04:00
										 
									 
								 
							 | 
							
								
									
										
									
								
							 | 
							
								
							 | 
							
							
								            self.limits[dc_axis] = dc_rail.get_range()
							 | 
						
					
						
							
								
									
										
										
										
											2018-03-02 14:11:00 -05:00
										 
									 
								 
							 | 
							
								
									
										
									
								
							 | 
							
								
							 | 
							
							
								        self.need_motor_enable = True
							 | 
						
					
						
							| 
								
							 | 
							
								
							 | 
							
								
							 | 
							
							
								    cmd_SET_DUAL_CARRIAGE_help = "Set which carriage is active"
							 | 
						
					
						
							| 
								
							 | 
							
								
							 | 
							
								
							 | 
							
							
								    def cmd_SET_DUAL_CARRIAGE(self, params):
							 | 
						
					
						
							| 
								
							 | 
							
								
							 | 
							
								
							 | 
							
							
								        gcode = self.printer.lookup_object('gcode')
							 | 
						
					
						
							
								
									
										
										
										
											2018-04-20 21:41:13 -04:00
										 
									 
								 
							 | 
							
								
									
										
									
								
							 | 
							
								
							 | 
							
							
								        carriage = gcode.get_int('CARRIAGE', params, minval=0, maxval=1)
							 | 
						
					
						
							
								
									
										
										
										
											2018-03-02 14:11:00 -05:00
										 
									 
								 
							 | 
							
								
									
										
									
								
							 | 
							
								
							 | 
							
							
								        self._activate_carriage(carriage)
							 | 
						
					
						
							| 
								
							 | 
							
								
							 | 
							
								
							 | 
							
							
								        gcode.reset_last_position()
							 |