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generic_cartesian: Added option 'axis' for primary carriages
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
committed by
KevinOConnor
KevinOConnor
parent
0ba01beaa8
commit
79189203e2
@@ -7,36 +7,39 @@
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# See docs/Config_Reference.md for a description of parameters.
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[carriage x]
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[carriage carriage_x]
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axis: x
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position_endstop: 0
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position_max: 300
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homing_speed: 50
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endstop_pin: ^PE5
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[carriage y]
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[carriage carriage_y]
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axis: y
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position_endstop: 0
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position_max: 200
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homing_speed: 50
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endstop_pin: ^PJ1
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[extra_carriage y1]
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primary_carriage: y
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[extra_carriage carriage_y1]
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primary_carriage: carriage_y
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endstop_pin: ^PB6
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[carriage z]
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[carriage carriage_z]
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axis: z
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position_endstop: 0.5
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position_max: 100
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endstop_pin: ^PD3
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[dual_carriage u]
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primary_carriage: x
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[dual_carriage carriage_u]
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primary_carriage: carriage_x
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position_endstop: 300
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position_max: 300
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homing_speed: 50
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endstop_pin: ^PE4
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[stepper my_stepper_x]
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carriages: x+y
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carriages: carriage_x+carriage_y
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step_pin: PF0
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dir_pin: PF1
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enable_pin: !PD7
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@@ -44,7 +47,7 @@ microsteps: 16
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rotation_distance: 40
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[stepper my_stepper_u]
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carriages: u-y1
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carriages: carriage_u-carriage_y1
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step_pin: PH1
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dir_pin: PH0
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enable_pin: !PA1
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@@ -52,7 +55,7 @@ microsteps: 16
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rotation_distance: 40
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[stepper my_stepper_y0]
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carriages: y
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carriages: carriage_y
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step_pin: PF6
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dir_pin: !PF7
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enable_pin: !PF2
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@@ -60,7 +63,7 @@ microsteps: 16
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rotation_distance: 40
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[stepper my_stepper_y1]
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carriages: y1
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carriages: carriage_y1
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step_pin: PE3
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dir_pin: !PH6
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enable_pin: !PG5
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@@ -68,7 +71,7 @@ microsteps: 16
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rotation_distance: 40
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[stepper my_stepper_z0]
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carriages: z
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carriages: carriage_z
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step_pin: PL3
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dir_pin: PL1
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enable_pin: !PK0
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@@ -76,7 +79,7 @@ microsteps: 16
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rotation_distance: 8
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[stepper my_stepper_z1]
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carriages: z
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carriages: carriage_z
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step_pin: PG1
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dir_pin: PG0
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enable_pin: !PH3
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@@ -3,28 +3,30 @@
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# See docs/Config_Reference.md for a description of parameters.
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[carriage x]
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[carriage carriage_x]
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axis: x
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position_endstop: 0
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position_max: 300
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homing_speed: 50
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endstop_pin: ^PE5
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[carriage y]
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[carriage carriage_y]
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axis: y
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position_endstop: 0
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position_max: 200
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homing_speed: 50
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endstop_pin: ^PJ1
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[dual_carriage u]
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primary_carriage: x
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[dual_carriage carriage_u]
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primary_carriage: carriage_x
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safe_distance: 70
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position_endstop: 300
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position_max: 300
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homing_speed: 50
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endstop_pin: ^PE4
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[dual_carriage v]
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primary_carriage: y
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[dual_carriage carriage_v]
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primary_carriage: carriage_y
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safe_distance: 50
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position_endstop: 200
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position_max: 200
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@@ -32,7 +34,7 @@ homing_speed: 50
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endstop_pin: ^PD4
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[stepper a]
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carriages: x+y
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carriages: carriage_x+carriage_y
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step_pin: PF0
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dir_pin: PF1
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enable_pin: !PD7
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@@ -40,7 +42,7 @@ microsteps: 16
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rotation_distance: 40
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[stepper b]
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carriages: u-v
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carriages: carriage_u-carriage_v
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step_pin: PH1
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dir_pin: PH0
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enable_pin: !PA1
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@@ -48,7 +50,7 @@ microsteps: 16
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rotation_distance: 40
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[stepper c]
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carriages: x-y
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carriages: carriage_x-carriage_y
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step_pin: PF6
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dir_pin: !PF7
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enable_pin: !PF2
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@@ -56,7 +58,7 @@ microsteps: 16
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rotation_distance: 40
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[stepper d]
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carriages: u+v
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carriages: carriage_u+carriage_v
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step_pin: PE3
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dir_pin: !PH6
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enable_pin: !PG5
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@@ -83,8 +85,8 @@ max_temp: 250
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[gcode_macro PARK_extruder]
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gcode:
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SET_DUAL_CARRIAGE CARRIAGE=x
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SET_DUAL_CARRIAGE CARRIAGE=y
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SET_DUAL_CARRIAGE CARRIAGE=carriage_x
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SET_DUAL_CARRIAGE CARRIAGE=carriage_y
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G90
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G1 X0 Y0
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@@ -92,8 +94,8 @@ gcode:
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gcode:
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PARK_{printer.toolhead.extruder}
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ACTIVATE_EXTRUDER EXTRUDER=extruder
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SET_DUAL_CARRIAGE CARRIAGE=x
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SET_DUAL_CARRIAGE CARRIAGE=y
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SET_DUAL_CARRIAGE CARRIAGE=carriage_x
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SET_DUAL_CARRIAGE CARRIAGE=carriage_y
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[extruder1]
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step_pin: PC1
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@@ -115,8 +117,8 @@ max_temp: 250
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[gcode_macro PARK_extruder1]
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gcode:
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SET_DUAL_CARRIAGE CARRIAGE=u
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SET_DUAL_CARRIAGE CARRIAGE=v
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SET_DUAL_CARRIAGE CARRIAGE=carriage_u
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SET_DUAL_CARRIAGE CARRIAGE=carriage_v
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G90
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G1 X300 Y200
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@@ -124,35 +126,35 @@ gcode:
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gcode:
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PARK_{printer.toolhead.extruder}
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ACTIVATE_EXTRUDER EXTRUDER=extruder1
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SET_DUAL_CARRIAGE CARRIAGE=u
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SET_DUAL_CARRIAGE CARRIAGE=v
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SET_DUAL_CARRIAGE CARRIAGE=carriage_u
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SET_DUAL_CARRIAGE CARRIAGE=carriage_v
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# A helper script to activate copy mode
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[gcode_macro ACTIVATE_COPY_MODE]
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gcode:
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SET_DUAL_CARRIAGE CARRIAGE=x MODE=PRIMARY
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SET_DUAL_CARRIAGE CARRIAGE=y MODE=PRIMARY
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SET_DUAL_CARRIAGE CARRIAGE=carriage_x MODE=PRIMARY
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SET_DUAL_CARRIAGE CARRIAGE=carriage_y MODE=PRIMARY
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G1 X0 Y0
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ACTIVATE_EXTRUDER EXTRUDER=extruder
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SET_DUAL_CARRIAGE CARRIAGE=u MODE=PRIMARY
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SET_DUAL_CARRIAGE CARRIAGE=v MODE=PRIMARY
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SET_DUAL_CARRIAGE CARRIAGE=carriage_u MODE=PRIMARY
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SET_DUAL_CARRIAGE CARRIAGE=carriage_v MODE=PRIMARY
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G1 X150 Y100
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SET_DUAL_CARRIAGE CARRIAGE=u MODE=COPY
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SET_DUAL_CARRIAGE CARRIAGE=v MODE=COPY
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SET_DUAL_CARRIAGE CARRIAGE=carriage_u MODE=COPY
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SET_DUAL_CARRIAGE CARRIAGE=carriage_v MODE=COPY
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SYNC_EXTRUDER_MOTION EXTRUDER=extruder1 MOTION_QUEUE=extruder
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# A helper script to activate mirror mode
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[gcode_macro ACTIVATE_MIRROR_MODE]
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gcode:
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SET_DUAL_CARRIAGE CARRIAGE=x MODE=PRIMARY
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SET_DUAL_CARRIAGE CARRIAGE=y MODE=PRIMARY
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SET_DUAL_CARRIAGE CARRIAGE=carriage_x MODE=PRIMARY
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SET_DUAL_CARRIAGE CARRIAGE=carriage_y MODE=PRIMARY
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G1 X0 Y0
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ACTIVATE_EXTRUDER EXTRUDER=extruder
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SET_DUAL_CARRIAGE CARRIAGE=u MODE=PRIMARY
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SET_DUAL_CARRIAGE CARRIAGE=v MODE=PRIMARY
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SET_DUAL_CARRIAGE CARRIAGE=carriage_u MODE=PRIMARY
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SET_DUAL_CARRIAGE CARRIAGE=carriage_v MODE=PRIMARY
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G1 X300 Y100
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SET_DUAL_CARRIAGE CARRIAGE=u MODE=MIRROR
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SET_DUAL_CARRIAGE CARRIAGE=v MODE=COPY
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SET_DUAL_CARRIAGE CARRIAGE=carriage_u MODE=MIRROR
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SET_DUAL_CARRIAGE CARRIAGE=carriage_v MODE=COPY
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SYNC_EXTRUDER_MOTION EXTRUDER=extruder1 MOTION_QUEUE=extruder
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[printer]
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@@ -169,9 +171,9 @@ max_z_accel: 100
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#[delayed_gcode init_shaper]
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#initial_duration: 0.1
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#gcode:
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# SET_DUAL_CARRIAGE CARRIAGE=u
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# SET_DUAL_CARRIAGE CARRIAGE=v
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# SET_INPUT_SHAPER SHAPER_TYPE_X=<dual_carriage_x_shaper> SHAPER_FREQ_X=<dual_carriage_x_freq> SHAPER_TYPE_Y=<dual_carriage_y_shaper> SHAPER_FREQ_Y=<dual_carriage_y_freq>
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# SET_DUAL_CARRIAGE CARRIAGE=x MODE=PRIMARY
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# SET_DUAL_CARRIAGE CARRIAGE=y MODE=PRIMARY
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# SET_INPUT_SHAPER SHAPER_TYPE_X=<primary_carriage_x_shaper> SHAPER_FREQ_X=<primary_carriage_x_freq> SHAPER_TYPE_Y=<primary_carriage_y_shaper> SHAPER_FREQ_Y=<primary_carriage_y_freq>
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# SET_DUAL_CARRIAGE CARRIAGE=carriage_u
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# SET_DUAL_CARRIAGE CARRIAGE=carriage_v
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# SET_INPUT_SHAPER SHAPER_TYPE_X=<carriage_u_shaper> SHAPER_FREQ_X=<carriage_u_freq> SHAPER_TYPE_Y=<carriage_v_shaper> SHAPER_FREQ_Y=<carriage_v_freq>
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# SET_DUAL_CARRIAGE CARRIAGE=carriage_x MODE=PRIMARY
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# SET_DUAL_CARRIAGE CARRIAGE=carriage_y MODE=PRIMARY
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# SET_INPUT_SHAPER SHAPER_TYPE_X=<carriage_x_shaper> SHAPER_FREQ_X=<carriage_x_freq> SHAPER_TYPE_Y=<carriage_y_shaper> SHAPER_FREQ_Y=<carriage_y_freq>
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@@ -8,6 +8,10 @@ All dates in this document are approximate.
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## Changes
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20251122: An option `axis` has been added to `[carriage <name>]` sections
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for `generic_cartesian` kinematics, allowing arbitrary names for primary
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carriages. Users are encouraged to explicitly specify `axis` option now.
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20251106: The status fields `{printer.toolhead.position}`,
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`{printer.gcode_move.position}`,
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`{printer.gcode_move.gcode_position}`, and
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@@ -743,10 +743,12 @@ max_accel:
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```
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Then a user must define the following three carriages: `[carriage x]`,
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`[carriage y]`, and `[carriage z]`, e.g.
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Then a user must define three carriages for X, Y, and Z axes, e.g.:
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```
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[carriage x]
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[carriage carriage_x]
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axis:
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# Axis of a carriage, either x, y, or z. This parameter must be provided,
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# unless a carriage name is x, y, or z itself.
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endstop_pin:
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# Endstop switch detection pin. If this endstop pin is on a
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# different mcu than the stepper motor(s) moving this carriage,
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@@ -788,7 +790,8 @@ for instance
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carriages:
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# A string describing the carriages the stepper moves. All defined
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# carriages can be specified here, as well as their linear combinations,
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# e.g. x, x+y, y-0.5*z, x-z, etc. This parameter must be provided.
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# e.g. carriage_x, carriage_x+carriage_y, carriage_y-0.5*carriage_z,
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# carriage_x-carriage_z, etc. This parameter must be provided.
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step_pin:
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dir_pin:
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enable_pin:
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@@ -800,28 +803,29 @@ microsteps:
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```
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See [stepper](#stepper) section for more information on the regular
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stepper parameters. The `carriages` parameter defines how the stepper
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affects the motion of the carriages. For example, `x+y` indicates that
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the motion of the stepper in the positive direction by the distance `d`
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moves the carriages `x` and `y` by the same distance `d` in the positive
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direction, while `x-0.5*y` means the motion of the stepper in the positive
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direction by the distance `d` moves the carriage `x` by the distance `d`
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in the positive direction, but the carriage `y` will travel distance `d/2`
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in the negative direction.
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affects the motion of the carriages. For example, `carriage_x+carriage_y`
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indicates that the motion of the stepper in the positive direction by the
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distance `d` moves the carriages `carriage_x` and `carriage_y` by the same
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distance `d` in the positive direction, while `carriage_x-0.5*carriage_y`
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means the motion of the stepper in the positive direction by the distance
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`d` moves the carriage `carriage_x` by the distance `d` in the positive
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direction, but the carriage `carriage_y` will travel distance `d/2` in
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the negative direction.
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More than a single stepper motor can be defined to drive the same axis
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or belt. For example, on a CoreXY AWD setups two motors driving the same
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belt can be defined as
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```
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[carriage x]
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[carriage carriage_x]
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endstop_pin: ...
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...
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[carriage y]
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[carriage carriage_y]
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endstop_pin: ...
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...
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[stepper a0]
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carriages: x-y
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carriages: carriage_x-carriage_y
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step_pin: ...
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dir_pin: ...
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enable_pin: ...
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@@ -829,7 +833,7 @@ rotation_distance: ...
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...
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[stepper a1]
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carriages: x-y
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carriages: carriage_x-carriage_y
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step_pin: ...
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dir_pin: ...
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enable_pin: ...
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@@ -842,7 +846,7 @@ sharing the same `carriages` and corresponding endstops.
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There are situations when a user wants to have more than one endstop
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per axis. Examples of such configurations include Y axis driven by
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two independent stepper motors with belts attached to both ends of the
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X beam, with effectively two carriages on Y axis each having an
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X gantry, with effectively two carriages on Y axis each having an
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independent endstop, and multi-stepper Z axis with each stepper having
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its own endstop (not to be confused with the configurations with
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multiple Z motors but only a single endstop). These configurations
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@@ -860,12 +864,12 @@ endstop_pin:
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and the corresponding stepper motors, for example:
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```
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[extra_carriage y1]
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primary_carriage: y
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[extra_carriage carriage_y1]
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primary_carriage: carriage_y
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endstop_pin: ...
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[stepper sy1]
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carriages: y1
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carriages: carriage_y1
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...
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```
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Notably, an `[extra_carriage]` does not define parameters such as
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@@ -2450,7 +2454,7 @@ from the configuration described above:
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[dual_carriage my_dc_carriage]
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primary_carriage:
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# Defines the matching primary carriage of this dual carriage and
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# the corresponding IDEX axis. Valid choices are x, y, z.
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# the corresponding IDEX axis. Must match a name of a defined `[carriage]`.
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# This parameter must be provided.
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#safe_distance:
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# The minimum distance (in mm) to enforce between the dual and the primary
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@@ -2478,18 +2482,18 @@ on the regular `carriage` parameters.
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Then a user must define one or more stepper motors moving the dual carriage
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(and other carriages as appropriate), for instance
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```
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[carriage x]
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[carriage carriage_x]
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...
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[carriage y]
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[carriage carriage_y]
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...
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[dual_carriage u]
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primary_carriage: x
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[dual_carriage carriage_u]
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primary_carriage: carriage_x
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...
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[stepper dc_stepper]
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carriages: u-y
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carriages: carriage_u-carriage_y
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...
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```
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@@ -2505,14 +2509,14 @@ example above:
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[delayed_gcode init_shaper]
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initial_duration: 0.1
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gcode:
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SET_DUAL_CARRIAGE CARRIAGE=u
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SET_INPUT_SHAPER SHAPER_TYPE_X=<dual_carriage_x_shaper> SHAPER_FREQ_X=<dual_carriage_x_freq> SHAPER_TYPE_Y=<y_shaper> SHAPER_FREQ_Y=<y_freq>
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SET_DUAL_CARRIAGE CARRIAGE=x
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SET_INPUT_SHAPER SHAPER_TYPE_X=<primary_carriage_x_shaper> SHAPER_FREQ_X=<primary_carriage_x_freq> SHAPER_TYPE_Y=<y_shaper> SHAPER_FREQ_Y=<y_freq>
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SET_DUAL_CARRIAGE CARRIAGE=carriage_u
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SET_INPUT_SHAPER SHAPER_TYPE_X=<carriage_u_shaper> SHAPER_FREQ_X=<carriage_x_freq> SHAPER_TYPE_Y=<carriage_y_shaper> SHAPER_FREQ_Y=<carriage_y_freq>
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SET_DUAL_CARRIAGE CARRIAGE=carriage_x
|
||||
SET_INPUT_SHAPER SHAPER_TYPE_X=<carriage_x_shaper> SHAPER_FREQ_X=<carriage_x_freq> SHAPER_TYPE_Y=<carriage_y_shaper> SHAPER_FREQ_Y=<carriage_y_freq>
|
||||
```
|
||||
Note that `SHAPER_TYPE_Y` and `SHAPER_FREQ_Y` must be the same in both
|
||||
commands in this case, since the same motors drive Y axis when either
|
||||
of the `x` and `u` carriages are active.
|
||||
of the `carriage_x` and `carriage_u` carriages are active.
|
||||
|
||||
It is worth noting that `generic_cartesian` kinematic can support two
|
||||
dual carriages for X and Y axes. For reference, see for instance a
|
||||
|
||||
@@ -753,11 +753,11 @@ stepper at a time, some sequences of changes can lead to invalid
|
||||
intermediate kinematic configurations, even if the final configuration
|
||||
is valid. In such cases a user can pass `DISABLE_CHECKS=1` parameters to
|
||||
all but the last command to disable intermediate checks. For example,
|
||||
if `stepper a` and `stepper b` initially have `x-y` and `x+y` carriages
|
||||
correspondingly, then the following sequence of commands will let a user
|
||||
effectively swap the carriage controls:
|
||||
`SET_STEPPER_CARRIAGES STEPPER=a CARRIAGES=x+y DISABLE_CHECKS=1`
|
||||
and `SET_STEPPER_CARRIAGES STEPPER=b CARRIAGES=x-y`, while
|
||||
if `stepper a` and `stepper b` initially have `carriage_x-carriage_y` and
|
||||
`carriage_x+carriage_y` carriages correspondingly, then the following
|
||||
sequence of commands will let a user effectively swap the carriage controls:
|
||||
`SET_STEPPER_CARRIAGES STEPPER=a CARRIAGES=carriage_x+carriage_y DISABLE_CHECKS=1`
|
||||
and `SET_STEPPER_CARRIAGES STEPPER=b CARRIAGES=carriage_x-carriage_y`, while
|
||||
still validating the final kinematics state.
|
||||
|
||||
### [hall_filament_width_sensor]
|
||||
|
||||
@@ -438,6 +438,8 @@ gcode:
|
||||
SET_DUAL_CARRIAGE CARRIAGE=0
|
||||
SET_INPUT_SHAPER SHAPER_TYPE_X=<primary_carriage_shaper> SHAPER_FREQ_X=<primary_carriage_freq> SHAPER_TYPE_Y=<y_shaper> SHAPER_FREQ_Y=<y_freq>
|
||||
```
|
||||
However, users of `generic_cartesian` kinematics should specify carriage names
|
||||
in `CARRIAGE=` parameters of `SET_DUAL_CARRIAGE` instead of their numbers.
|
||||
Note that `SHAPER_TYPE_Y` and `SHAPER_FREQ_Y` should be the same in both
|
||||
commands. If you need to configure an input shaper for Z axis, include
|
||||
its parameters in both `SET_INPUT_SHAPER` commands.
|
||||
|
||||
@@ -9,8 +9,11 @@ import logging, bisect
|
||||
def lookup_z_endstop_config(config):
|
||||
if config.has_section('stepper_z'):
|
||||
return config.getsection('stepper_z')
|
||||
elif config.has_section('carriage z'):
|
||||
return config.getsection('carriage z')
|
||||
for cconfig in config.get_prefix_sections('carriage '):
|
||||
carriage_name = cconfig.get_name().split()[-1].strip()
|
||||
axis_name = cconfig.get('axis', carriage_name, note_valid=False)
|
||||
if axis_name == 'z':
|
||||
return cconfig
|
||||
return None
|
||||
|
||||
class ManualProbe:
|
||||
|
||||
@@ -32,10 +32,16 @@ def mat_pseudo_inverse(m):
|
||||
return pinv
|
||||
|
||||
class MainCarriage:
|
||||
def __init__(self, config, axis):
|
||||
def __init__(self, config):
|
||||
self.rail = stepper.GenericPrinterRail(config)
|
||||
self.axis = ord(axis) - ord('x')
|
||||
self.axis_name = axis
|
||||
carriage_name = self.rail.get_name(short=True)
|
||||
valid_axes = ['x', 'y', 'z']
|
||||
if carriage_name in valid_axes:
|
||||
axis_name = config.getchoice('axis', valid_axes, carriage_name)
|
||||
else:
|
||||
axis_name = config.getchoice('axis', valid_axes)
|
||||
self.axis = ord(axis_name) - ord('x')
|
||||
self.axis_name = axis_name
|
||||
self.dual_carriage = None
|
||||
def get_name(self):
|
||||
return self.rail.get_name(short=True)
|
||||
@@ -83,7 +89,7 @@ class DualCarriage:
|
||||
self.axis = self.primary_carriage.get_axis()
|
||||
if self.axis > 1:
|
||||
raise config.error("Invalid axis '%s' for dual_carriage" %
|
||||
self.primary_carriage.get_axis_name())
|
||||
"xyz"[self.axis])
|
||||
self.safe_dist = config.getfloat('safe_distance', None, minval=0.)
|
||||
def get_name(self):
|
||||
return self.rail.get_name(short=True)
|
||||
@@ -146,11 +152,19 @@ class GenericCartesianKinematics:
|
||||
self.cmd_SET_STEPPER_CARRIAGES,
|
||||
desc=self.cmd_SET_STEPPER_CARRIAGES_help)
|
||||
def _load_kinematics(self, config):
|
||||
carriages = {a : MainCarriage(config.getsection('carriage ' + a), a)
|
||||
for a in 'xyz'}
|
||||
carriages = {}
|
||||
for mcconfig in config.get_prefix_sections('carriage '):
|
||||
c = MainCarriage(mcconfig)
|
||||
axis = c.get_axis()
|
||||
dups = [mc for mc in carriages.values() if mc.get_axis() == axis]
|
||||
if dups:
|
||||
raise config.error(
|
||||
"Axis '%s' referenced by multiple carriages (%s, %s)"
|
||||
% ("xyz"[axis], c.get_name(), dups[0].get_name()))
|
||||
carriages[c.get_name()] = c
|
||||
dc_carriages = []
|
||||
for c in config.get_prefix_sections('dual_carriage '):
|
||||
dc_carriages.append(DualCarriage(c, carriages))
|
||||
for dcconfig in config.get_prefix_sections('dual_carriage '):
|
||||
dc_carriages.append(DualCarriage(dcconfig, carriages))
|
||||
for dc in dc_carriages:
|
||||
name = dc.get_name()
|
||||
if name in carriages:
|
||||
@@ -159,8 +173,8 @@ class GenericCartesianKinematics:
|
||||
self.carriages = dict(carriages)
|
||||
self.dc_carriages = dc_carriages
|
||||
ec_carriages = []
|
||||
for c in config.get_prefix_sections('extra_carriage '):
|
||||
ec_carriages.append(ExtraCarriage(c, carriages))
|
||||
for ecconfig in config.get_prefix_sections('extra_carriage '):
|
||||
ec_carriages.append(ExtraCarriage(ecconfig, carriages))
|
||||
for ec in ec_carriages:
|
||||
name = ec.get_name()
|
||||
if name in carriages:
|
||||
@@ -193,13 +207,16 @@ class GenericCartesianKinematics:
|
||||
def get_steppers(self):
|
||||
return [s.get_stepper() for s in self.kin_steppers]
|
||||
def get_primary_carriages(self):
|
||||
carriages = [self.carriages[a] for a in "xyz"]
|
||||
if self.dc_module:
|
||||
for a in self.dc_module.get_axes():
|
||||
carriages = [None] * 3
|
||||
for carriage in self.carriages.values():
|
||||
a = carriage.get_axis()
|
||||
if carriage.get_dual_carriage() is not None:
|
||||
primary_rail = self.dc_module.get_primary_rail(a)
|
||||
for c in self.carriages.values():
|
||||
if c.get_rail() == primary_rail:
|
||||
carriages[a] = c
|
||||
else:
|
||||
carriages[a] = carriage
|
||||
return carriages
|
||||
def _get_kinematics_coeffs(self):
|
||||
matr = {s.get_name() : list(s.get_kin_coeffs())
|
||||
@@ -274,11 +291,14 @@ class GenericCartesianKinematics:
|
||||
self._check_kinematics(self.printer.command_error)
|
||||
# Each axis is homed independently and in order
|
||||
for axis in homing_state.get_axes():
|
||||
carriage = self.carriages["xyz"[axis]]
|
||||
if carriage.get_dual_carriage() != None:
|
||||
self.dc_module.home(homing_state, axis)
|
||||
else:
|
||||
self.home_axis(homing_state, axis, carriage.get_rail())
|
||||
for carriage in self.carriages.values():
|
||||
if carriage.get_axis() != axis:
|
||||
continue
|
||||
if carriage.get_dual_carriage() != None:
|
||||
self.dc_module.home(homing_state, axis)
|
||||
else:
|
||||
self.home_axis(homing_state, axis, carriage.get_rail())
|
||||
break
|
||||
def _check_endstops(self, move):
|
||||
end_pos = move.end_pos
|
||||
for i in (0, 1, 2):
|
||||
|
||||
@@ -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
|
||||
|
||||
@@ -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
|
||||
|
||||
@@ -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
|
||||
|
||||
@@ -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
|
||||
|
||||
Reference in New Issue
Block a user