From 98ed0a8168d88e013ab3fb7809a3c1af0de11fbe Mon Sep 17 00:00:00 2001
From: Dmitry Butyugin <dmbutyugin@google.com>
Date: Mon, 20 Feb 2023 01:20:12 +0100
Subject: [PATCH] test: Regression test for hybrid corexy input shaping with
 dual carriage

Signed-off-by: Dmitry Butyugin <dmbutyugin@google.com>
---
 test/klippy/hybrid_corexy_dual_carriage.cfg  | 122 +++++++++++++++++++
 test/klippy/hybrid_corexy_dual_carriage.test |  44 +++++++
 2 files changed, 166 insertions(+)
 create mode 100644 test/klippy/hybrid_corexy_dual_carriage.cfg
 create mode 100644 test/klippy/hybrid_corexy_dual_carriage.test

diff --git a/test/klippy/hybrid_corexy_dual_carriage.cfg b/test/klippy/hybrid_corexy_dual_carriage.cfg
new file mode 100644
index 00000000..10d4cc44
--- /dev/null
+++ b/test/klippy/hybrid_corexy_dual_carriage.cfg
@@ -0,0 +1,122 @@
+# 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]
diff --git a/test/klippy/hybrid_corexy_dual_carriage.test b/test/klippy/hybrid_corexy_dual_carriage.test
new file mode 100644
index 00000000..3778a631
--- /dev/null
+++ b/test/klippy/hybrid_corexy_dual_carriage.test
@@ -0,0 +1,44 @@
+# 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