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 --- klippy/kinematics/deltesian.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) (limited to 'klippy/kinematics/deltesian.py') diff --git a/klippy/kinematics/deltesian.py b/klippy/kinematics/deltesian.py index 1f7ddaa0..54b013a5 100644 --- a/klippy/kinematics/deltesian.py +++ b/klippy/kinematics/deltesian.py @@ -17,10 +17,10 @@ class DeltesianKinematics: self.rails = [None] * 3 stepper_configs = [config.getsection('stepper_' + s) for s in ['left', 'right', 'y']] - self.rails[0] = stepper.PrinterRail( + self.rails[0] = stepper.LookupRail( stepper_configs[0], need_position_minmax = False) def_pos_es = self.rails[0].get_homing_info().position_endstop - self.rails[1] = stepper.PrinterRail( + self.rails[1] = stepper.LookupRail( stepper_configs[1], need_position_minmax = False, default_position_endstop = def_pos_es) self.rails[2] = stepper.LookupMultiRail(stepper_configs[2]) -- cgit v1.2.3-70-g09d2