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| author | Dmitry Butyugin <dmbutyugin@google.com> | 2025-05-23 01:44:47 +0200 |
|---|---|---|
| committer | KevinOConnor <kevin@koconnor.net> | 2025-06-04 13:40:58 -0400 |
| commit | 4d4b9684a53fa7e776914b222cdab21f870dad76 (patch) | |
| tree | 1293fe6e5bbc52d01d502cdbfff625a5821e0e7d /klippy/kinematics/idex_modes.py | |
| parent | 14cbb8dd2db14a473fe0a01c626d9bbecc420144 (diff) | |
| download | kutter-4d4b9684a53fa7e776914b222cdab21f870dad76.tar.gz kutter-4d4b9684a53fa7e776914b222cdab21f870dad76.tar.xz kutter-4d4b9684a53fa7e776914b222cdab21f870dad76.zip | |
input_shaper: Track kinematics updates by dual_carriage
Signed-off-by: Dmitry Butyugin <dmbutyugin@google.com>
Diffstat (limited to 'klippy/kinematics/idex_modes.py')
| -rw-r--r-- | klippy/kinematics/idex_modes.py | 20 |
1 files changed, 8 insertions, 12 deletions
diff --git a/klippy/kinematics/idex_modes.py b/klippy/kinematics/idex_modes.py index c7c2305c..19d5a655 100644 --- a/klippy/kinematics/idex_modes.py +++ b/klippy/kinematics/idex_modes.py @@ -18,17 +18,18 @@ class DualCarriages: safe_dist={}): self.printer = printer self.axes = axes - steppers = self._init_steppers(primary_rails + dual_rails) + self._init_steppers(primary_rails + dual_rails) self.primary_rails = [ - DualCarriagesRail(c, dual_rails[i], axes[i], active=True) + DualCarriagesRail(printer, c, dual_rails[i], + axes[i], active=True) for i, c in enumerate(primary_rails)] self.dual_rails = [ - DualCarriagesRail(c, primary_rails[i], axes[i], active=False) + DualCarriagesRail(printer, c, primary_rails[i], + axes[i], active=False) for i, c in enumerate(dual_rails)] self.dc_rails = collections.OrderedDict( [(c.rail.get_name(short=True), c) for c in self.primary_rails + self.dual_rails]) - self._init_shapers(steppers) self.saved_states = {} self.safe_dist = {} for i, dc in enumerate(dual_rails): @@ -76,13 +77,6 @@ class DualCarriages: self.dc_stepper_kinematics.append(sk) self.orig_stepper_kinematics.append(orig_sk) s.set_stepper_kinematics(sk) - return steppers - def _init_shapers(self, steppers): - input_shaper = self.printer.lookup_object("input_shaper", None) - if input_shaper is not None: - # Make sure to initialize input shaper stepper kinematics - # before modifying IDEX stepper kinematics. - input_shaper.init_for_steppers(steppers) def get_axes(self): return self.axes def get_primary_rail(self, axis): @@ -324,7 +318,8 @@ class DualCarriages: class DualCarriagesRail: ENC_AXES = [b'x', b'y'] - def __init__(self, rail, dual_rail, axis, active): + def __init__(self, printer, rail, dual_rail, axis, active): + self.printer = printer self.rail = rail self.dual_rail = dual_rail self.sks = [s.get_stepper_kinematics() for s in rail.get_steppers()] @@ -343,6 +338,7 @@ class DualCarriagesRail: for sk in self.sks: ffi_lib.dual_carriage_set_transform( sk, self.ENC_AXES[self.axis], self.scale, self.offset) + self.printer.send_event('dual_carriage:update_kinematics') def activate(self, mode, position, old_position=None): old_axis_position = self.get_axis_position(old_position or position) self.scale = -1. if mode == MIRROR else 1. |