diff options
Diffstat (limited to 'klippy/kinematics/idex_modes.py')
| -rw-r--r-- | klippy/kinematics/idex_modes.py | 12 |
1 files changed, 9 insertions, 3 deletions
diff --git a/klippy/kinematics/idex_modes.py b/klippy/kinematics/idex_modes.py index ee9ee31d..c7c2305c 100644 --- a/klippy/kinematics/idex_modes.py +++ b/klippy/kinematics/idex_modes.py @@ -18,7 +18,7 @@ class DualCarriages: safe_dist={}): self.printer = printer self.axes = axes - self._init_steppers(primary_rails + dual_rails) + steppers = self._init_steppers(primary_rails + dual_rails) self.primary_rails = [ DualCarriagesRail(c, dual_rails[i], axes[i], active=True) for i, c in enumerate(primary_rails)] @@ -28,6 +28,7 @@ class DualCarriages: self.dc_rails = collections.OrderedDict( [(c.rail.get_name(short=True), c) for c in self.primary_rails + self.dual_rails]) + self._init_shapers(steppers) self.saved_states = {} self.safe_dist = {} for i, dc in enumerate(dual_rails): @@ -75,6 +76,13 @@ class DualCarriages: self.dc_stepper_kinematics.append(sk) self.orig_stepper_kinematics.append(orig_sk) s.set_stepper_kinematics(sk) + return steppers + def _init_shapers(self, steppers): + input_shaper = self.printer.lookup_object("input_shaper", None) + if input_shaper is not None: + # Make sure to initialize input shaper stepper kinematics + # before modifying IDEX stepper kinematics. + input_shaper.init_for_steppers(steppers) def get_axes(self): return self.axes def get_primary_rail(self, axis): @@ -213,8 +221,6 @@ class DualCarriages: dc.activate(mode, toolhead.get_position()) kin.update_limits(axis, self.get_kin_range(toolhead, mode, axis)) def _handle_ready(self): - # Apply the transform later during Klipper initialization to make sure - # that input shaping can pick up the correct stepper kinematic flags. for dc_rail in self.dc_rails.values(): dc_rail.apply_transform() cmd_SET_DUAL_CARRIAGE_help = "Configure the dual carriages mode" |