test: Regression test for hybrid corexy input shaping with dual carriage

Signed-off-by: Dmitry Butyugin <dmbutyugin@google.com>
This commit is contained in:
Dmitry Butyugin 2023-02-20 01:20:12 +01:00 committed by KevinOConnor
parent 90e1477d72
commit 98ed0a8168
2 changed files with 166 additions and 0 deletions

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# Test config with dual carriage and multiple extruders
[stepper_x]
step_pin: PF0
dir_pin: PF1
enable_pin: !PD7
microsteps: 16
rotation_distance: 40
endstop_pin: ^PE5
position_endstop: 0
position_max: 200
homing_speed: 50
[dual_carriage]
axis: x
step_pin: PH1
dir_pin: PH0
enable_pin: !PA1
microsteps: 16
rotation_distance: 40
endstop_pin: ^PE4
position_endstop: 200
position_max: 200
homing_speed: 50
[stepper_y]
step_pin: PF6
dir_pin: !PF7
enable_pin: !PF2
microsteps: 16
rotation_distance: 40
endstop_pin: ^PJ1
position_endstop: 0
position_max: 200
homing_speed: 50
[stepper_z]
step_pin: PL3
dir_pin: PL1
enable_pin: !PK0
microsteps: 16
rotation_distance: 8
endstop_pin: ^PD3
position_endstop: 0.5
position_max: 200
[extruder]
step_pin: PA4
dir_pin: PA6
enable_pin: !PA2
microsteps: 16
rotation_distance: 33.5
nozzle_diameter: 0.400
filament_diameter: 1.750
heater_pin: PB4
sensor_type: EPCOS 100K B57560G104F
sensor_pin: PK5
control: pid
pid_Kp: 22.2
pid_Ki: 1.08
pid_Kd: 114
min_temp: 0
max_temp: 250
[gcode_macro PARK_extruder]
gcode:
G90
G1 X0
[gcode_macro T0]
gcode:
PARK_{printer.toolhead.extruder}
ACTIVATE_EXTRUDER EXTRUDER=extruder
SET_DUAL_CARRIAGE CARRIAGE=0
[extruder1]
step_pin: PC1
dir_pin: PC3
enable_pin: !PC7
microsteps: 16
rotation_distance: 33.5
nozzle_diameter: 0.400
filament_diameter: 1.750
heater_pin: PB5
sensor_type: EPCOS 100K B57560G104F
sensor_pin: PK7
control: pid
pid_Kp: 22.2
pid_Ki: 1.08
pid_Kd: 114
min_temp: 0
max_temp: 250
[gcode_macro PARK_extruder1]
gcode:
G90
G1 X200
[gcode_macro T1]
gcode:
PARK_{printer.toolhead.extruder}
ACTIVATE_EXTRUDER EXTRUDER=extruder1
SET_DUAL_CARRIAGE CARRIAGE=1
[heater_bed]
heater_pin: PH5
sensor_type: EPCOS 100K B57560G104F
sensor_pin: PK6
control: watermark
min_temp: 0
max_temp: 130
[mcu]
serial: /dev/ttyACM0
[printer]
kinematics: hybrid_corexy
max_velocity: 300
max_accel: 3000
max_z_velocity: 5
max_z_accel: 100
[input_shaper]

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# Test cases on hybrid corexy printers with dual carriage and multiple extruders
CONFIG hybrid_corexy_dual_carriage.cfg
DICTIONARY atmega2560.dict
# First home the printer
G90
G28
# Perform a dummy move
G1 X10 F6000
# Activate alternate carriage
SET_DUAL_CARRIAGE CARRIAGE=1
G1 X190 F6000
# Go back to main carriage
SET_DUAL_CARRIAGE CARRIAGE=0
G1 X20 F6000
# Enable Input Shaper
SET_DUAL_CARRIAGE CARRIAGE=1
SET_INPUT_SHAPER SHAPER_TYPE_X=MZV SHAPER_FREQ_X=70
SET_INPUT_SHAPER SHAPER_TYPE_Y=2HUMP_EI SHAPER_FREQ_Y=50
SET_DUAL_CARRIAGE CARRIAGE=0
SET_INPUT_SHAPER SHAPER_TYPE_X=EI SHAPER_FREQ_X=60
SET_INPUT_SHAPER SHAPER_TYPE_Y=2HUMP_EI SHAPER_FREQ_Y=50
# Test changing extruders
G1 X5
T1
G91
G1 X-10 E.2
T0
G91
G1 X20 E.2
G90
QUERY_ENDSTOPS
# Verify STEPPER_BUZZ
STEPPER_BUZZ STEPPER=dual_carriage
STEPPER_BUZZ STEPPER=extruder
STEPPER_BUZZ STEPPER=extruder1