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kinematics: Generic Cartesian kinematics implementation (#6815)

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* tests: Added a regression test for generic_cartesian kinematics

* kinematics: An intial implementation of generic_cartesian kinematics

* generic_cartesian: Refactored kinematics configuration API

* generic_cartesian: Use stepper instead of kinematic_stepper in configs

* generic_cartesian: Added SET_STEPPER_KINEMATICS command

* generic_cartesian: Fixed parsing of section names

* docs: Generic Caretsian kinematics documentation and config samples

* generic_cartesian: Implemented multi-mcu homing validation

* generic_cartesian: Fixed typos in docs, minor fixes

* generic_cartesian: Renamed `kinematics` option to `carriages`

* generic_cartesian: Moved kinematic_stepper.py file

* idex_modes: Internal refactoring of handling dual carriages

* stepper: Refactored the code to not store a reference to config object

* config: Updated example-generic-cartesian config

* generic_cartesian: Restricted SET_STEPPER_CARRIAGES and exported status

* idex_modes: Fixed handling stepper kinematics with input shaper enabled

* config: Updated configs and tests for SET_DUAL_CARRIAGE new params

* generic_cartesian: Avoid inheritance in the added classes

Signed-off-by: Dmitry Butyugin <dmbutyugin@google.com>
This commit is contained in:
Dmitry Butyugin
2025-05-07 00:06:36 +02:00
committed by GitHub
parent 1cc6398074
commit cc6736c3e3
27 changed files with 1855 additions and 199 deletions
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docs/Status_Reference.md
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@@ -570,6 +570,12 @@ on a cartesian, hybrid_corexy or hybrid_corexz robot
- `carriage_1`: The mode of the carriage 1. Possible values are:
"INACTIVE", "PRIMARY", "COPY", and "MIRROR".
On a `generic_cartesian` kinematic, the following information is
available in `dual_carriage`:
- `carriages["<carriage>"]`: The mode of the carriage `<carriage>`. Possible
values are "INACTIVE" and "PRIMARY" for the primary carriage and "INACTIVE",
"PRIMARY", "COPY", and "MIRROR" for the dual carriage.
## virtual_sdcard
The following information is available in the