diff options
Diffstat (limited to 'klippy/kinematics/hybrid_corexy.py')
| -rw-r--r-- | klippy/kinematics/hybrid_corexy.py | 17 |
1 files changed, 7 insertions, 10 deletions
diff --git a/klippy/kinematics/hybrid_corexy.py b/klippy/kinematics/hybrid_corexy.py index fbaf49e4..7bffdc0f 100644 --- a/klippy/kinematics/hybrid_corexy.py +++ b/klippy/kinematics/hybrid_corexy.py @@ -12,7 +12,7 @@ class HybridCoreXYKinematics: def __init__(self, toolhead, config): self.printer = config.get_printer() # itersolve parameters - self.rails = [ stepper.PrinterRail(config.getsection('stepper_x')), + self.rails = [ stepper.LookupRail(config.getsection('stepper_x')), stepper.LookupMultiRail(config.getsection('stepper_y')), stepper.LookupMultiRail(config.getsection('stepper_z'))] self.rails[1].get_endstops()[0][0].add_stepper( @@ -29,16 +29,13 @@ class HybridCoreXYKinematics: # dummy for cartesian config users dc_config.getchoice('axis', ['x'], default='x') # setup second dual carriage rail - self.rails.append(stepper.PrinterRail(dc_config)) + self.rails.append(stepper.LookupRail(dc_config)) self.rails[1].get_endstops()[0][0].add_stepper( self.rails[3].get_steppers()[0]) self.rails[3].setup_itersolve('corexy_stepper_alloc', b'+') - dc_rail_0 = idex_modes.DualCarriagesRail( - self.rails[0], axis=0, active=True) - dc_rail_1 = idex_modes.DualCarriagesRail( - self.rails[3], axis=0, active=False) self.dc_module = idex_modes.DualCarriages( - dc_config, dc_rail_0, dc_rail_1, axis=0) + self.printer, [self.rails[0]], [self.rails[3]], axes=[0], + 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) @@ -69,8 +66,8 @@ class HybridCoreXYKinematics: 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 == 0: + rail = self.dc_module.get_primary_rail(axis) else: rail = self.rails[axis] self.limits[axis] = rail.get_range() @@ -93,7 +90,7 @@ class HybridCoreXYKinematics: 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.home(homing_state) + self.dc_module.home(homing_state, axis) else: self.home_axis(homing_state, axis, self.rails[axis]) def _check_endstops(self, move): |