diff options
| -rw-r--r-- | klippy/kinematics/idex_modes.py | 34 | ||||
| -rw-r--r-- | test/klippy/dual_carriage.cfg | 2 | ||||
| -rw-r--r-- | test/klippy/dual_carriage.test | 12 |
3 files changed, 41 insertions, 7 deletions
diff --git a/klippy/kinematics/idex_modes.py b/klippy/kinematics/idex_modes.py index f2618d08..2f2da416 100644 --- a/klippy/kinematics/idex_modes.py +++ b/klippy/kinematics/idex_modes.py @@ -4,7 +4,7 @@ # Copyright (C) 2023 Dmitry Butyugin <dmbutyugin@google.com> # # This file may be distributed under the terms of the GNU GPLv3 license. -import math +import logging, math import chelper INACTIVE = 'INACTIVE' @@ -202,14 +202,31 @@ class DualCarriages: move_speed = gcmd.get_float('MOVE_SPEED', 0., above=0.) toolhead = self.printer.lookup_object('toolhead') toolhead.flush_step_generation() - pos = toolhead.get_position() if gcmd.get_int('MOVE', 1): + homing_speed = 99999999. + cur_pos = [] for i, dc in enumerate(self.dc): self.toggle_active_dc_rail(i) - saved_pos = saved_state['axes_positions'][i] - toolhead.manual_move( - pos[:self.axis] + [saved_pos] + pos[self.axis+1:], - move_speed or dc.get_rail().homing_speed) + homing_speed = min(homing_speed, dc.get_rail().homing_speed) + cur_pos.append(toolhead.get_position()) + move_pos = list(cur_pos[0]) + dl = [saved_state['axes_positions'][i] - cur_pos[i][self.axis] + for i in range(2)] + primary_ind = 0 if abs(dl[0]) >= abs(dl[1]) else 1 + self.toggle_active_dc_rail(primary_ind) + move_pos[self.axis] = saved_state['axes_positions'][primary_ind] + dc_mode = INACTIVE if min(abs(dl[0]), abs(dl[1])) < 0.000000001 \ + else COPY if dl[0] * dl[1] > 0 else MIRROR + if dc_mode != INACTIVE: + self.dc[1-primary_ind].activate(dc_mode, cur_pos[primary_ind]) + self.dc[1-primary_ind].override_axis_scaling( + abs(dl[1-primary_ind] / dl[primary_ind]), + cur_pos[primary_ind]) + toolhead.manual_move(move_pos, move_speed or homing_speed) + toolhead.flush_step_generation() + # Make sure the scaling coefficients are restored with the mode + self.dc[0].inactivate(move_pos) + self.dc[1].inactivate(move_pos) for i, dc in enumerate(self.dc): saved_mode = saved_state['carriage_modes'][i] self.activate_dc_mode(i, saved_mode) @@ -257,3 +274,8 @@ class DualCarriagesRail: self.scale = 0. self.apply_transform() self.mode = INACTIVE + def override_axis_scaling(self, new_scale, position): + old_axis_position = self.get_axis_position(position) + self.scale = math.copysign(new_scale, self.scale) + self.offset = old_axis_position - position[self.axis] * self.scale + self.apply_transform() diff --git a/test/klippy/dual_carriage.cfg b/test/klippy/dual_carriage.cfg index 9ae01c2b..93c57444 100644 --- a/test/klippy/dual_carriage.cfg +++ b/test/klippy/dual_carriage.cfg @@ -61,7 +61,7 @@ pid_Kd: 114 min_temp: 0 max_temp: 250 -[gcode_macro PARK_extruder0] +[gcode_macro PARK_extruder] gcode: G90 G1 X0 diff --git a/test/klippy/dual_carriage.test b/test/klippy/dual_carriage.test index 5b2f9e65..ed40c236 100644 --- a/test/klippy/dual_carriage.test +++ b/test/klippy/dual_carriage.test @@ -17,6 +17,18 @@ G1 X190 F6000 SET_DUAL_CARRIAGE CARRIAGE=0 G1 X20 F6000 +# Save dual carriage state +SAVE_DUAL_CARRIAGE_STATE + +G1 X50 F6000 + +# Go back to alternate carriage +SET_DUAL_CARRIAGE CARRIAGE=1 +G1 X170 F6000 + +# Restore dual carriage state +RESTORE_DUAL_CARRIAGE_STATE + # Test changing extruders G1 X5 T1 |