diff options
| -rw-r--r-- | klippy/kinematics/cartesian.py | 17 | ||||
| -rw-r--r-- | klippy/kinematics/hybrid_corexy.py | 12 | ||||
| -rw-r--r-- | klippy/kinematics/hybrid_corexz.py | 12 | ||||
| -rw-r--r-- | klippy/kinematics/idex_modes.py | 15 |
4 files changed, 34 insertions, 22 deletions
diff --git a/klippy/kinematics/cartesian.py b/klippy/kinematics/cartesian.py index 6d576b5b..9774672e 100644 --- a/klippy/kinematics/cartesian.py +++ b/klippy/kinematics/cartesian.py @@ -52,20 +52,27 @@ class CartKinematics: def get_steppers(self): return [s for rail in self.rails for s in rail.get_steppers()] def calc_position(self, stepper_positions): - return [stepper_positions[rail.get_name()] for rail in self.rails] + rails = self.rails + if self.dc_module: + primary_rail = self.dc_module.get_primary_rail().get_rail() + rails = (rails[:self.dc_module.axis] + + [primary_rail] + rails[self.dc_module.axis+1:]) + return [stepper_positions[rail.get_name()] for rail in rails] def update_limits(self, i, range): l, h = self.limits[i] # Only update limits if this axis was already homed, # otherwise leave in un-homed state. if l <= h: self.limits[i] = range - def override_rail(self, i, rail): - self.rails[i] = rail def set_position(self, newpos, homing_axes): for i, rail in enumerate(self.rails): rail.set_position(newpos) - if i in homing_axes: - self.limits[i] = rail.get_range() + for axis in homing_axes: + if self.dc_module and axis == self.dc_module.axis: + rail = self.dc_module.get_primary_rail().get_rail() + else: + rail = self.rails[axis] + self.limits[axis] = rail.get_range() def note_z_not_homed(self): # Helper for Safe Z Home self.limits[2] = (1.0, -1.0) diff --git a/klippy/kinematics/hybrid_corexy.py b/klippy/kinematics/hybrid_corexy.py index 1c2164eb..e852826a 100644 --- a/klippy/kinematics/hybrid_corexy.py +++ b/klippy/kinematics/hybrid_corexy.py @@ -57,7 +57,7 @@ class HybridCoreXYKinematics: pos = [stepper_positions[rail.get_name()] for rail in self.rails] if (self.dc_module is not None and 'PRIMARY' == \ self.dc_module.get_status()['carriage_1']): - return [pos[0] - pos[1], pos[1], pos[2]] + return [pos[3] - pos[1], pos[1], pos[2]] else: return [pos[0] + pos[1], pos[1], pos[2]] def update_limits(self, i, range): @@ -66,13 +66,15 @@ class HybridCoreXYKinematics: # otherwise leave in un-homed state. if l <= h: self.limits[i] = range - def override_rail(self, i, rail): - self.rails[i] = rail def set_position(self, newpos, homing_axes): for i, rail in enumerate(self.rails): rail.set_position(newpos) - if i in homing_axes: - self.limits[i] = rail.get_range() + for axis in homing_axes: + if self.dc_module and axis == self.dc_module.axis: + rail = self.dc_module.get_primary_rail().get_rail() + else: + rail = self.rails[axis] + self.limits[axis] = rail.get_range() def note_z_not_homed(self): # Helper for Safe Z Home self.limits[2] = (1.0, -1.0) diff --git a/klippy/kinematics/hybrid_corexz.py b/klippy/kinematics/hybrid_corexz.py index 0eaea117..58e6b0d3 100644 --- a/klippy/kinematics/hybrid_corexz.py +++ b/klippy/kinematics/hybrid_corexz.py @@ -57,7 +57,7 @@ class HybridCoreXZKinematics: pos = [stepper_positions[rail.get_name()] for rail in self.rails] if (self.dc_module is not None and 'PRIMARY' == \ self.dc_module.get_status()['carriage_1']): - return [pos[0] - pos[2], pos[1], pos[2]] + return [pos[3] - pos[2], pos[1], pos[2]] else: return [pos[0] + pos[2], pos[1], pos[2]] def update_limits(self, i, range): @@ -66,13 +66,15 @@ class HybridCoreXZKinematics: # otherwise leave in un-homed state. if l <= h: self.limits[i] = range - def override_rail(self, i, rail): - self.rails[i] = rail def set_position(self, newpos, homing_axes): for i, rail in enumerate(self.rails): rail.set_position(newpos) - if i in homing_axes: - self.limits[i] = rail.get_range() + for axis in homing_axes: + if self.dc_module and axis == self.dc_module.axis: + rail = self.dc_module.get_primary_rail().get_rail() + else: + rail = self.rails[axis] + self.limits[axis] = rail.get_range() def note_z_not_homed(self): # Helper for Safe Z Home self.limits[2] = (1.0, -1.0) diff --git a/klippy/kinematics/idex_modes.py b/klippy/kinematics/idex_modes.py index 2ce91afe..f2618d08 100644 --- a/klippy/kinematics/idex_modes.py +++ b/klippy/kinematics/idex_modes.py @@ -42,7 +42,12 @@ class DualCarriages: desc=self.cmd_RESTORE_DUAL_CARRIAGE_STATE_help) def get_rails(self): return self.dc - def toggle_active_dc_rail(self, index, override_rail=False): + def get_primary_rail(self): + for rail in self.dc: + if rail.mode == PRIMARY: + return rail + return None + def toggle_active_dc_rail(self, index): toolhead = self.printer.lookup_object('toolhead') toolhead.flush_step_generation() pos = toolhead.get_position() @@ -52,15 +57,11 @@ class DualCarriages: if i != index: if dc.is_active(): dc.inactivate(pos) - if override_rail: - kin.override_rail(3, dc_rail) target_dc = self.dc[index] if target_dc.mode != PRIMARY: newpos = pos[:self.axis] + [target_dc.get_axis_position(pos)] \ + pos[self.axis+1:] target_dc.activate(PRIMARY, newpos, old_position=pos) - if override_rail: - kin.override_rail(self.axis, target_dc.get_rail()) toolhead.set_position(newpos) kin.update_limits(self.axis, target_dc.get_rail().get_range()) def home(self, homing_state): @@ -72,10 +73,10 @@ class DualCarriages: # the same direction and the first carriage homes on the second one enumerated_dcs.reverse() for i, dc_rail in enumerated_dcs: - self.toggle_active_dc_rail(i, override_rail=True) + self.toggle_active_dc_rail(i) kin.home_axis(homing_state, self.axis, dc_rail.get_rail()) # Restore the original rails ordering - self.toggle_active_dc_rail(0, override_rail=True) + self.toggle_active_dc_rail(0) def get_status(self, eventtime=None): return {('carriage_%d' % (i,)) : dc.mode for (i, dc) in enumerate(self.dc)} |