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Update dualgantry_corexy.py to make it compatible again with klipper #1

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Update dualgantry_corexy.py to make it compatible again with klipper #1

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4752148
Update dualgantry_corexy.py to make it compatible again with klipper
ThePaPsT Jan 20, 2025
f565255
New fix for changes in klipper
ThePaPsT Jan 29, 2025
f93d89e
Cleaned up file
ThePaPsT Jan 29, 2025
c1c945f
Cleaned up file even more, removed remaining logging
ThePaPsT Jan 29, 2025
49cc296
Changed init style according to new klipper code
ThePaPsT Nov 17, 2025
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28 changes: 14 additions & 14 deletions klippy/kinematics/dualgantry_corexy.py
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Original file line number Diff line number Diff line change
@@ -1,5 +1,6 @@
# Code for handling the kinematics of corexy robots
# Code for handling the kinematics of dualgantry corexy robots
#
# Copyright (C) 2025 Thepapst <le70@gmx.de>
# Copyright (C) 2022 Zruncho3D <zruncho3d@gmail.com>
# Copyright (C) 2022 Fabrice Gallet <tircown@gmail.com>
#
Expand Down Expand Up @@ -28,16 +29,13 @@ def __init__(self, toolhead, config):
self.rails[4].setup_itersolve('corexy_stepper_alloc', b'-')
for s in self.get_steppers():
s.set_trapq(toolhead.get_trapq())
toolhead.register_step_generator(s.generate_steps)
config.get_printer().register_event_handler("stepper_enable:motor_off",
self._motor_off)
self.rails[3].set_trapq(None)
self.rails[4].set_trapq(None)
self.dualgantry_rails = ( (self.rails[0], self.rails[1]),
(self.rails[3], self.rails[4]) )
ranges = [r.get_range() for r in self.rails]
self.axes_min = toolhead.Coord(*[r[0] for r in ranges[:3]], e=0.)
self.axes_max = toolhead.Coord(*[r[1] for r in ranges[:3]], e=0.)
self.axes_min = toolhead.Coord([r[0] for r in ranges[:3]])
self.axes_max = toolhead.Coord([r[1] for r in ranges[:3]])
# Setup boundary checks
max_velocity, max_accel = toolhead.get_max_velocity()
self.max_z_velocity = config.getfloat(
Expand All @@ -59,8 +57,12 @@ def calc_position(self, stepper_positions):
def set_position(self, newpos, homing_axes):
for i, rail in enumerate(self.rails):
rail.set_position(newpos)
if i in homing_axes:
self.limits[i] = rail.get_range()
if "xyzuv"[i] in homing_axes: # uv are unused, but loop goes from 0 to 4
self.limits[i] = rail.get_range()
def clear_homing_state(self, clear_axes):
for axis, axis_name in enumerate("xyz"):
if axis_name in clear_axes:
self.limits[axis] = (1.0, -1.0)
def note_z_not_homed(self):
# Helper for Safe Z Home
self.limits[2] = (1.0, -1.0)
Expand All @@ -87,8 +89,6 @@ def home(self, homing_state):
self._activate_gantry(altc)
else:
self._home_axis(homing_state, axis, self.rails[axis])
def _motor_off(self, print_time):
self.limits = [(1.0, -1.0)] * 3
def _check_endstops(self, move):
end_pos = move.end_pos
for i in range(3):
Expand Down Expand Up @@ -138,10 +138,10 @@ def _activate_gantry(self, carriage):
# Activate carriage rails
rails = self.dualgantry_rails[carriage]
ranges = [r.get_range() for r in rails]
self.axes_min = toolhead.Coord(ranges[0][0], ranges[1][0],
self.axes_min[2], self.axes_min[3])
self.axes_max = toolhead.Coord(ranges[0][1], ranges[1][1],
self.axes_max[2], self.axes_max[3])
self.axes_min = toolhead.Coord((ranges[0][0], ranges[1][0],
self.axes_min[2], self.axes_min[3]))
self.axes_max = toolhead.Coord((ranges[0][1], ranges[1][1],
self.axes_max[2], self.axes_max[3]))
for i, r in enumerate(rails):
r.set_trapq(toolhead.get_trapq())
self.rails[i] = r
Expand Down