diff options
Diffstat (limited to 'klippy/kinematics/cartesian.py')
| -rw-r--r-- | klippy/kinematics/cartesian.py | 23 |
1 files changed, 10 insertions, 13 deletions
diff --git a/klippy/kinematics/cartesian.py b/klippy/kinematics/cartesian.py index 2a50a05d..0524469a 100644 --- a/klippy/kinematics/cartesian.py +++ b/klippy/kinematics/cartesian.py @@ -29,14 +29,10 @@ class CartKinematics: self.rails.append(stepper.LookupMultiRail(dc_config)) self.rails[3].setup_itersolve('cartesian_stepper_alloc', dc_axis.encode()) - dc_rail_0 = idex_modes.DualCarriagesRail( - self.rails[self.dual_carriage_axis], - axis=self.dual_carriage_axis, active=True) - dc_rail_1 = idex_modes.DualCarriagesRail( - self.rails[3], axis=self.dual_carriage_axis, active=False) self.dc_module = idex_modes.DualCarriages( - dc_config, dc_rail_0, dc_rail_1, - axis=self.dual_carriage_axis) + self.printer, [self.rails[self.dual_carriage_axis]], + [self.rails[3]], axes=[self.dual_carriage_axis], + safe_dist=config.getfloat('safe_distance', None, minval=0.)) for s in self.get_steppers(): s.set_trapq(toolhead.get_trapq()) toolhead.register_step_generator(s.generate_steps) @@ -52,9 +48,10 @@ class CartKinematics: def calc_position(self, stepper_positions): 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:]) + primary_rail = self.dc_module.get_primary_rail( + self.dual_carriage_axis) + rails = (rails[:self.dual_carriage_axis] + + [primary_rail] + rails[self.dual_carriage_axis+1:]) return [stepper_positions[rail.get_name()] for rail in rails] def update_limits(self, i, range): l, h = self.limits[i] @@ -67,8 +64,8 @@ class CartKinematics: rail.set_position(newpos) for axis_name in homing_axes: axis = "xyz".index(axis_name) - if self.dc_module and axis == self.dc_module.axis: - rail = self.dc_module.get_primary_rail().get_rail() + if self.dc_module and axis == self.dual_carriage_axis: + rail = self.dc_module.get_primary_rail(self.dual_carriage_axis) else: rail = self.rails[axis] self.limits[axis] = rail.get_range() @@ -93,7 +90,7 @@ class CartKinematics: # Each axis is homed independently and in order for axis in homing_state.get_axes(): if self.dc_module is not None and axis == self.dual_carriage_axis: - self.dc_module.home(homing_state) + self.dc_module.home(homing_state, self.dual_carriage_axis) else: self.home_axis(homing_state, axis, self.rails[axis]) def _check_endstops(self, move): |