diff options
Diffstat (limited to 'klippy/kinematics/idex_modes.py')
| -rw-r--r-- | klippy/kinematics/idex_modes.py | 53 |
1 files changed, 45 insertions, 8 deletions
diff --git a/klippy/kinematics/idex_modes.py b/klippy/kinematics/idex_modes.py index b54f9657..2ce91afe 100644 --- a/klippy/kinematics/idex_modes.py +++ b/klippy/kinematics/idex_modes.py @@ -65,7 +65,13 @@ class DualCarriages: kin.update_limits(self.axis, target_dc.get_rail().get_range()) def home(self, homing_state): kin = self.printer.lookup_object('toolhead').get_kinematics() - for i, dc_rail in enumerate(self.dc): + enumerated_dcs = list(enumerate(self.dc)) + if (self.get_dc_order(0, 1) > 0) != \ + self.dc[0].get_rail().get_homing_info().positive_dir: + # The second carriage must home first, because the carriages home in + # the same direction and the first carriage homes on the second one + enumerated_dcs.reverse() + for i, dc_rail in enumerated_dcs: self.toggle_active_dc_rail(i, override_rail=True) kin.home_axis(homing_state, self.axis, dc_rail.get_rail()) # Restore the original rails ordering @@ -78,9 +84,15 @@ class DualCarriages: axes_pos = [dc.get_axis_position(pos) for dc in self.dc] dc0_rail = self.dc[0].get_rail() dc1_rail = self.dc[1].get_rail() - range_min = dc0_rail.position_min - range_max = dc0_rail.position_max + if mode != PRIMARY or self.dc[0].is_active(): + range_min = dc0_rail.position_min + range_max = dc0_rail.position_max + else: + range_min = dc1_rail.position_min + range_max = dc1_rail.position_max safe_dist = self.safe_dist + if not safe_dist: + return (range_min, range_max) if mode == COPY: range_min = max(range_min, @@ -88,7 +100,7 @@ class DualCarriages: range_max = min(range_max, axes_pos[0] - axes_pos[1] + dc1_rail.position_max) elif mode == MIRROR: - if dc0_rail.get_homing_info().positive_dir: + if self.get_dc_order(0, 1) > 0: range_min = max(range_min, 0.5 * (sum(axes_pos) + safe_dist)) range_max = min(range_max, @@ -102,14 +114,39 @@ class DualCarriages: # mode == PRIMARY active_idx = 1 if self.dc[1].is_active() else 0 inactive_idx = 1 - active_idx - if active_idx: - range_min = dc1_rail.position_min - range_max = dc1_rail.position_max - if self.dc[active_idx].get_rail().get_homing_info().positive_dir: + if self.get_dc_order(active_idx, inactive_idx) > 0: range_min = max(range_min, axes_pos[inactive_idx] + safe_dist) else: range_max = min(range_max, axes_pos[inactive_idx] - safe_dist) + if range_min > range_max: + # During multi-MCU homing it is possible that the carriage + # position will end up below position_min or above position_max + # if position_endstop is too close to the rail motion ends due + # to inherent latencies of the data transmission between MCUs. + # This can result in an invalid range_min > range_max range + # in certain modes, which may confuse the kinematics code. + # So, return an empty range instead, which will correctly + # block the carriage motion until a different mode is selected + # which actually permits carriage motion. + return (range_min, range_min) return (range_min, range_max) + def get_dc_order(self, first, second): + if first == second: + return 0 + # Check the relative order of the first and second carriages and + # return -1 if the first carriage position is always smaller + # than the second one and 1 otherwise + first_rail = self.dc[first].get_rail() + second_rail = self.dc[second].get_rail() + first_homing_info = first_rail.get_homing_info() + second_homing_info = second_rail.get_homing_info() + if first_homing_info.positive_dir != second_homing_info.positive_dir: + # Carriages home away from each other + return 1 if first_homing_info.positive_dir else -1 + # Carriages home in the same direction + if first_rail.position_endstop > second_rail.position_endstop: + return 1 + return -1 def activate_dc_mode(self, index, mode): toolhead = self.printer.lookup_object('toolhead') toolhead.flush_step_generation() |