diff options
Diffstat (limited to 'klippy/kinematics/idex_modes.py')
| -rw-r--r-- | klippy/kinematics/idex_modes.py | 105 |
1 files changed, 105 insertions, 0 deletions
diff --git a/klippy/kinematics/idex_modes.py b/klippy/kinematics/idex_modes.py new file mode 100644 index 00000000..92cb39a3 --- /dev/null +++ b/klippy/kinematics/idex_modes.py @@ -0,0 +1,105 @@ +# Support for duplication and mirroring modes for IDEX printers +# +# Copyright (C) 2021 Fabrice Gallet <tircown@gmail.com> +# +# This file may be distributed under the terms of the GNU GPLv3 license. +import math + +class DualCarriages: + def __init__(self, printer, rail_0, rail_1, axis): + self.printer = printer + self.axis = axis + self.dc = (rail_0, rail_1) + self.saved_state = None + self.printer.add_object('dual_carriage', self) + gcode = self.printer.lookup_object('gcode') + gcode.register_command( + 'SET_DUAL_CARRIAGE', self.cmd_SET_DUAL_CARRIAGE, + desc=self.cmd_SET_DUAL_CARRIAGE_help) + def toggle_active_dc_rail(self, index): + toolhead = self.printer.lookup_object('toolhead') + toolhead.flush_step_generation() + pos = toolhead.get_position() + kin = toolhead.get_kinematics() + for i, dc in enumerate(self.dc): + dc_rail = dc.get_rail() + if i != index: + dc.inactivate(pos) + kin.override_rail(3, dc_rail) + elif dc.is_active() is False: + newpos = pos[:self.axis] + [dc.axis_position] \ + + pos[self.axis+1:] + dc.activate(newpos) + kin.override_rail(self.axis, dc_rail) + toolhead.set_position(newpos) + kin.update_limits(self.axis, dc_rail.get_range()) + def get_status(self, eventtime): + dc0, dc1 = self.dc + if (dc0.is_active() is True): + return { 'mode': 'FULL_CONTROL', 'active_carriage': 'CARRIAGE_0' } + else: + return { 'mode': 'FULL_CONTROL', 'active_carriage': 'CARRIAGE_1' } + def save_idex_state(self): + dc0, dc1 = self.dc + if (dc0.is_active() is True): + mode, active_carriage = ('FULL_CONTROL', 'CARRIAGE_0') + else: + mode, active_carriage = ('FULL_CONTROL', 'CARRIAGE_1') + self.saved_state = { + 'mode': mode, + 'active_carriage': active_carriage, + 'axis_positions': (dc0.axis_position, dc1.axis_position) + } + def restore_idex_state(self): + if self.saved_state is not None: + # set carriage 0 active + if (self.saved_state['active_carriage'] == 'CARRIAGE_0' + and self.dc[0].is_active() is False): + self.toggle_active_dc_rail(0) + # set carriage 1 active + elif (self.saved_state['active_carriage'] == 'CARRIAGE_1' + and self.dc[1].is_active() is False): + self.toggle_active_dc_rail(1) + cmd_SET_DUAL_CARRIAGE_help = "Set which carriage is active" + def cmd_SET_DUAL_CARRIAGE(self, gcmd): + index = gcmd.get_int('CARRIAGE', minval=0, maxval=1) + if (not(self.dc[0].is_active() == self.dc[1].is_active() == True) + and self.dc[index].is_active() is False): + self.toggle_active_dc_rail(index) + +class DualCarriagesRail: + ACTIVE=1 + INACTIVE=2 + def __init__(self, printer, rail, axis, active, stepper_alloc_active, + stepper_alloc_inactive=None): + self.printer = printer + self.rail = rail + self.axis = axis + self.status = (self.INACTIVE, self.ACTIVE)[active] + self.stepper_alloc_active = stepper_alloc_active + self.stepper_alloc_inactive = stepper_alloc_inactive + self.axis_position = -1 + def _stepper_alloc(self, position, active=True): + toolhead = self.printer.lookup_object('toolhead') + self.axis_position = position[self.axis] + self.rail.set_trapq(None) + if active is True: + self.status = self.ACTIVE + if self.stepper_alloc_active is not None: + self.rail.setup_itersolve(*self.stepper_alloc_active) + self.rail.set_position(position) + self.rail.set_trapq(toolhead.get_trapq()) + else: + self.status = self.INACTIVE + if self.stepper_alloc_inactive is not None: + self.rail.setup_itersolve(*self.stepper_alloc_inactive) + self.rail.set_position(position) + self.rail.set_trapq(toolhead.get_trapq()) + def get_rail(self): + return self.rail + def is_active(self): + return self.status == self.ACTIVE + def activate(self, position): + self._stepper_alloc(position, active=True) + def inactivate(self, position): + self._stepper_alloc(position, active=False) |