cartesian: Initial support for dual carriages
Add support for additional carriages on cartesian printers. This is used by some printers to handle multiple extruders. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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Kevin O'Connor
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@ -98,6 +98,30 @@
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# activation.
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# Support for cartesian printers with dual carriages on a single
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# axis. The active carriage is set via the SET_DUAL_CARRIAGE extended
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# g-code command. The "SET_DUAL_CARRIAGE CARRIAGE=1" command will
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# activate the carriage defined in this section (CARRIAGE=0 will
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# return activation to the primary carriage). Dual carriage support is
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# typically combined with extra extruders - use the SET_DUAL_CARRIAGE
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# command in the activate_gcode / deactivate_gcode section of the
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# appropriate extruder. Be sure to also use that mechanism to park the
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# carriages during deactivation.
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#[dual_carriage]
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#axis:
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# The axis this extra carriage is on (either x or y). This parameter
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# must be provided.
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#step_pin:
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#dir_pin:
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#enable_pin:
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#step_distance:
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#endstop_pin:
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#position_endstop:
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#position_min:
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#position_max:
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# See the example.cfg for the definition of the above parameters.
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# Multi-stepper axes. On a cartesian style printer, the stepper
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# controlling a given axis may have additional config blocks defining
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# steppers that should be stepped in concert with the primary
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@ -10,6 +10,7 @@ StepList = (0, 1, 2)
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class CartKinematics:
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def __init__(self, toolhead, printer, config):
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self.printer = printer
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self.steppers = [stepper.LookupMultiHomingStepper(
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printer, config.getsection('stepper_' + n))
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for n in ['x', 'y', 'z']]
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@ -26,6 +27,20 @@ class CartKinematics:
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self.steppers[1].set_max_jerk(max_halt_velocity, max_accel)
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self.steppers[2].set_max_jerk(
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min(max_halt_velocity, self.max_z_velocity), max_accel)
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# Check for dual carriage support
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self.dual_carriage_axis = None
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self.dual_carriage_steppers = []
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if config.has_section('dual_carriage'):
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dc_config = config.getsection('dual_carriage')
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self.dual_carriage_axis = dc_config.getchoice(
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'axis', {'x': 0, 'y': 1})
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dc_stepper = stepper.LookupMultiHomingStepper(printer, dc_config)
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dc_stepper.set_max_jerk(max_halt_velocity, max_accel)
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self.dual_carriage_steppers = [
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self.steppers[self.dual_carriage_axis], dc_stepper]
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printer.lookup_object('gcode').register_command(
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'SET_DUAL_CARRIAGE', self.cmd_SET_DUAL_CARRIAGE,
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desc=self.cmd_SET_DUAL_CARRIAGE_help)
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def get_steppers(self, flags=""):
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if flags == "Z":
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return [self.steppers[2]]
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@ -38,44 +53,57 @@ class CartKinematics:
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s.set_position(newpos[i])
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if i in homing_axes:
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self.limits[i] = (s.position_min, s.position_max)
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def _home_axis(self, homing_state, axis, stepper):
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s = stepper
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# Determine moves
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if s.homing_positive_dir:
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pos = s.position_endstop - 1.5*(
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s.position_endstop - s.position_min)
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rpos = s.position_endstop - s.homing_retract_dist
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r2pos = rpos - s.homing_retract_dist
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else:
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pos = s.position_endstop + 1.5*(
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s.position_max - s.position_endstop)
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rpos = s.position_endstop + s.homing_retract_dist
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r2pos = rpos + s.homing_retract_dist
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# Initial homing
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homing_speed = s.homing_speed
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if axis == 2:
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homing_speed = min(homing_speed, self.max_z_velocity)
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homepos = [None, None, None, None]
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homepos[axis] = s.position_endstop
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coord = [None, None, None, None]
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coord[axis] = pos
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homing_state.home(coord, homepos, s.get_endstops(), homing_speed)
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# Retract
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coord[axis] = rpos
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homing_state.retract(coord, homing_speed)
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# Home again
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coord[axis] = r2pos
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homing_state.home(coord, homepos, s.get_endstops(),
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homing_speed/2.0, second_home=True)
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# Set final homed position
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coord[axis] = s.position_endstop + s.get_homed_offset()
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homing_state.set_homed_position(coord)
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def home(self, homing_state):
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# Each axis is homed independently and in order
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for axis in homing_state.get_axes():
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s = self.steppers[axis]
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# Determine moves
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if s.homing_positive_dir:
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pos = s.position_endstop - 1.5*(
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s.position_endstop - s.position_min)
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rpos = s.position_endstop - s.homing_retract_dist
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r2pos = rpos - s.homing_retract_dist
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if axis == self.dual_carriage_axis:
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dc1, dc2 = self.dual_carriage_steppers
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altc = self.steppers[axis] == dc2
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self._activate_carriage(0)
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self._home_axis(homing_state, axis, dc1)
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self._activate_carriage(1)
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self._home_axis(homing_state, axis, dc2)
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self._activate_carriage(altc)
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else:
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pos = s.position_endstop + 1.5*(
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s.position_max - s.position_endstop)
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rpos = s.position_endstop + s.homing_retract_dist
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r2pos = rpos + s.homing_retract_dist
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# Initial homing
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homing_speed = s.homing_speed
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if axis == 2:
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homing_speed = min(homing_speed, self.max_z_velocity)
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homepos = [None, None, None, None]
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homepos[axis] = s.position_endstop
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coord = [None, None, None, None]
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coord[axis] = pos
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homing_state.home(coord, homepos, s.get_endstops(), homing_speed)
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# Retract
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coord[axis] = rpos
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homing_state.retract(coord, homing_speed)
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# Home again
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coord[axis] = r2pos
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homing_state.home(coord, homepos, s.get_endstops(),
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homing_speed/2.0, second_home=True)
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# Set final homed position
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coord[axis] = s.position_endstop + s.get_homed_offset()
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homing_state.set_homed_position(coord)
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self._home_axis(homing_state, axis, self.steppers[axis])
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def motor_off(self, print_time):
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self.limits = [(1.0, -1.0)] * 3
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for stepper in self.steppers:
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stepper.motor_enable(print_time, 0)
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for stepper in self.dual_carriage_steppers:
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stepper.motor_enable(print_time, 0)
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self.need_motor_enable = True
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def _check_motor_enable(self, print_time, move):
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need_motor_enable = False
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@ -139,3 +167,24 @@ class CartKinematics:
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if move.decel_r:
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decel_d = move.decel_r * axis_d
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step_const(move_time, start_pos, decel_d, cruise_v, -accel)
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# Dual carriage support
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def _activate_carriage(self, carriage):
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toolhead = self.printer.lookup_object('toolhead')
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toolhead.get_last_move_time()
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dc_stepper = self.dual_carriage_steppers[carriage]
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dc_axis = self.dual_carriage_axis
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self.steppers[dc_axis] = dc_stepper
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extruder_pos = toolhead.get_position()[3]
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toolhead.set_position(self.get_position() + [extruder_pos])
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if self.limits[dc_axis][0] <= self.limits[dc_axis][1]:
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self.limits[dc_axis] = (
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dc_stepper.position_min, dc_stepper.position_max)
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self.need_motor_enable = True
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cmd_SET_DUAL_CARRIAGE_help = "Set which carriage is active"
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def cmd_SET_DUAL_CARRIAGE(self, params):
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gcode = self.printer.lookup_object('gcode')
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carriage = gcode.get_int('CARRIAGE', params)
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if carriage not in (0, 1):
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raise gcode.error("Invalid carriage")
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self._activate_carriage(carriage)
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gcode.reset_last_position()
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