From cc6736c3e35cb6f6e660d973be67ab4cef78ffb9 Mon Sep 17 00:00:00 2001 From: Dmitry Butyugin Date: Wed, 7 May 2025 00:06:36 +0200 Subject: kinematics: Generic Cartesian kinematics implementation (#6815) * tests: Added a regression test for generic_cartesian kinematics * kinematics: An intial implementation of generic_cartesian kinematics * generic_cartesian: Refactored kinematics configuration API * generic_cartesian: Use stepper instead of kinematic_stepper in configs * generic_cartesian: Added SET_STEPPER_KINEMATICS command * generic_cartesian: Fixed parsing of section names * docs: Generic Caretsian kinematics documentation and config samples * generic_cartesian: Implemented multi-mcu homing validation * generic_cartesian: Fixed typos in docs, minor fixes * generic_cartesian: Renamed `kinematics` option to `carriages` * generic_cartesian: Moved kinematic_stepper.py file * idex_modes: Internal refactoring of handling dual carriages * stepper: Refactored the code to not store a reference to config object * config: Updated example-generic-cartesian config * generic_cartesian: Restricted SET_STEPPER_CARRIAGES and exported status * idex_modes: Fixed handling stepper kinematics with input shaper enabled * config: Updated configs and tests for SET_DUAL_CARRIAGE new params * generic_cartesian: Avoid inheritance in the added classes Signed-off-by: Dmitry Butyugin --- docs/Status_Reference.md | 6 ++++++ 1 file changed, 6 insertions(+) (limited to 'docs/Status_Reference.md') diff --git a/docs/Status_Reference.md b/docs/Status_Reference.md index e8f7f2c0..0276c413 100644 --- a/docs/Status_Reference.md +++ b/docs/Status_Reference.md @@ -570,6 +570,12 @@ on a cartesian, hybrid_corexy or hybrid_corexz robot - `carriage_1`: The mode of the carriage 1. Possible values are: "INACTIVE", "PRIMARY", "COPY", and "MIRROR". +On a `generic_cartesian` kinematic, the following information is +available in `dual_carriage`: +- `carriages[""]`: The mode of the carriage ``. Possible + values are "INACTIVE" and "PRIMARY" for the primary carriage and "INACTIVE", + "PRIMARY", "COPY", and "MIRROR" for the dual carriage. + ## virtual_sdcard The following information is available in the -- cgit v1.2.3-70-g09d2