diff options
Diffstat (limited to 'klippy/kinematics/hybrid_corexy.py')
| -rw-r--r-- | klippy/kinematics/hybrid_corexy.py | 30 |
1 files changed, 11 insertions, 19 deletions
diff --git a/klippy/kinematics/hybrid_corexy.py b/klippy/kinematics/hybrid_corexy.py index 62dccc26..26032039 100644 --- a/klippy/kinematics/hybrid_corexy.py +++ b/klippy/kinematics/hybrid_corexy.py @@ -33,17 +33,13 @@ class HybridCoreXYKinematics: self.rails.append(stepper.PrinterRail(dc_config)) self.rails[1].get_endstops()[0][0].add_stepper( self.rails[3].get_steppers()[0]) - self.rails[3].setup_itersolve('cartesian_stepper_alloc', b'y') + self.rails[3].setup_itersolve('corexy_stepper_alloc', b'+') dc_rail_0 = idex_modes.DualCarriagesRail( - self.printer, self.rails[0], axis=0, active=True, - stepper_alloc_active=('corexy_stepper_alloc', b'-'), - stepper_alloc_inactive=('cartesian_reverse_stepper_alloc',b'y')) + self.rails[0], axis=0, active=True) dc_rail_1 = idex_modes.DualCarriagesRail( - self.printer, self.rails[3], axis=0, active=False, - stepper_alloc_active=('corexy_stepper_alloc', b'+'), - stepper_alloc_inactive=('cartesian_stepper_alloc', b'y')) - self.dc_module = idex_modes.DualCarriages(self.printer, - dc_rail_0, dc_rail_1, axis=0) + self.rails[3], axis=0, active=False) + self.dc_module = idex_modes.DualCarriages( + dc_config, dc_rail_0, dc_rail_1, axis=0) for s in self.get_steppers(): s.set_trapq(toolhead.get_trapq()) toolhead.register_step_generator(s.generate_steps) @@ -60,8 +56,8 @@ class HybridCoreXYKinematics: return [s for rail in self.rails for s in rail.get_steppers()] def calc_position(self, stepper_positions): pos = [stepper_positions[rail.get_name()] for rail in self.rails] - if (self.dc_module is not None and 'CARRIAGE_1' == \ - self.dc_module.get_status()['active_carriage']): + 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]] else: return [pos[0] + pos[1], pos[1], pos[2]] @@ -81,7 +77,7 @@ class HybridCoreXYKinematics: def note_z_not_homed(self): # Helper for Safe Z Home self.limits[2] = (1.0, -1.0) - def _home_axis(self, homing_state, axis, rail): + def home_axis(self, homing_state, axis, rail): position_min, position_max = rail.get_range() hi = rail.get_homing_info() homepos = [None, None, None, None] @@ -95,14 +91,10 @@ class HybridCoreXYKinematics: homing_state.home_rails([rail], forcepos, homepos) def home(self, homing_state): for axis in homing_state.get_axes(): - if (self.dc_module is not None and axis == 0): - self.dc_module.save_idex_state() - for i in [0,1]: - self.dc_module.toggle_active_dc_rail(i) - self._home_axis(homing_state, axis, self.rails[0]) - self.dc_module.restore_idex_state() + if self.dc_module is not None and axis == 0: + self.dc_module.home(homing_state) else: - self._home_axis(homing_state, axis, self.rails[axis]) + self.home_axis(homing_state, axis, self.rails[axis]) def _motor_off(self, print_time): self.limits = [(1.0, -1.0)] * 3 def _check_endstops(self, move): |