diff options
| author | Dmitry Butyugin <dmbutyugin@google.com> | 2025-05-17 17:28:58 +0200 |
|---|---|---|
| committer | KevinOConnor <kevin@koconnor.net> | 2025-05-22 14:44:09 -0400 |
| commit | b1011e3fb14df7470d9b74e59042383012b199c6 (patch) | |
| tree | 94e2bbd83ca206a6279b6b143d66c6deac711246 /klippy | |
| parent | 17b8ce4c6be16d77d647b6d12356dc69830ec1e7 (diff) | |
| download | kutter-b1011e3fb14df7470d9b74e59042383012b199c6.tar.gz kutter-b1011e3fb14df7470d9b74e59042383012b199c6.tar.xz kutter-b1011e3fb14df7470d9b74e59042383012b199c6.zip | |
dual_carriage: Fixed input shaper stepper kinematics initialization
Signed-off-by: Dmitry Butyugin <dmbutyugin@google.com>
Diffstat (limited to 'klippy')
| -rw-r--r-- | klippy/extras/input_shaper.py | 4 | ||||
| -rw-r--r-- | klippy/kinematics/idex_modes.py | 12 |
2 files changed, 13 insertions, 3 deletions
diff --git a/klippy/extras/input_shaper.py b/klippy/extras/input_shaper.py index a628289e..82d63572 100644 --- a/klippy/extras/input_shaper.py +++ b/klippy/extras/input_shaper.py @@ -101,6 +101,10 @@ class InputShaper: desc=self.cmd_SET_INPUT_SHAPER_help) def get_shapers(self): return self.shapers + def init_for_steppers(self, steppers): + ffi_main, ffi_lib = chelper.get_ffi() + for s in steppers: + self._get_input_shaper_stepper_kinematics(s) def connect(self): self.toolhead = self.printer.lookup_object("toolhead") # Configure initial values diff --git a/klippy/kinematics/idex_modes.py b/klippy/kinematics/idex_modes.py index ee9ee31d..c7c2305c 100644 --- a/klippy/kinematics/idex_modes.py +++ b/klippy/kinematics/idex_modes.py @@ -18,7 +18,7 @@ class DualCarriages: safe_dist={}): self.printer = printer self.axes = axes - self._init_steppers(primary_rails + dual_rails) + steppers = self._init_steppers(primary_rails + dual_rails) self.primary_rails = [ DualCarriagesRail(c, dual_rails[i], axes[i], active=True) for i, c in enumerate(primary_rails)] @@ -28,6 +28,7 @@ class DualCarriages: 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): @@ -75,6 +76,13 @@ 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): @@ -213,8 +221,6 @@ class DualCarriages: dc.activate(mode, toolhead.get_position()) kin.update_limits(axis, self.get_kin_range(toolhead, mode, axis)) def _handle_ready(self): - # Apply the transform later during Klipper initialization to make sure - # that input shaping can pick up the correct stepper kinematic flags. for dc_rail in self.dc_rails.values(): dc_rail.apply_transform() cmd_SET_DUAL_CARRIAGE_help = "Configure the dual carriages mode" |