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idex_modes: COPY and MIRROR mode implementation (#6297)

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COPY and MIRROR mode implementation

Correctly apply input shaper params to new dual_carriage

Added SAVE_/RESTORE_IDEX_STATE commands

Documentation updates for the new IDEX modes

Signed-off-by: Dmitry Butyugin <dmbutyugin@google.com>
This commit is contained in:
Dmitry Butyugin
2023-08-01 18:23:52 +02:00
committed by GitHub
parent ea330717cd
commit 36be1cfc51
14 changed files with 458 additions and 250 deletions
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5
docs/Config_Changes.md
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@@ -8,6 +8,11 @@ All dates in this document are approximate.
## Changes
20230729: The exported status for `dual_carriage` is changed. Instead of
exporting `mode` and `active_carriage`, the individual modes for each
carriage are exported as `printer.dual_carriage.carriage_0` and
`printer.dual_carriage.carriage_1`.
20230619: The `relative_reference_index` option has been deprecated
and superceded by the `zero_reference_position` option. Refer to the
[Bed Mesh Documentation](./Bed_Mesh.md#the-deprecated-relative_reference_index)

35
docs/Config_Reference.md
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@@ -2007,14 +2007,24 @@ for an example configuration.
### [dual_carriage]
Support for cartesian printers with dual carriages on a single
axis. The active carriage is set via the SET_DUAL_CARRIAGE extended
g-code command. The "SET_DUAL_CARRIAGE CARRIAGE=1" command will
activate the carriage defined in this section (CARRIAGE=0 will return
activation to the primary carriage). Dual carriage support is
typically combined with extra extruders - the SET_DUAL_CARRIAGE
command is often called at the same time as the ACTIVATE_EXTRUDER
command. Be sure to park the carriages during deactivation.
Support for cartesian and hybrid_corexy/z printers with dual carriages
on a single axis. The carriage mode can be set via the
SET_DUAL_CARRIAGE extended g-code command. For example,
"SET_DUAL_CARRIAGE CARRIAGE=1" command will activate the carriage defined
in this section (CARRIAGE=0 will return activation to the primary carriage).
Dual carriage support is typically combined with extra extruders - the
SET_DUAL_CARRIAGE command is often called at the same time as the
ACTIVATE_EXTRUDER command. Be sure to park the carriages during deactivation.
Additionally, one could use "SET_DUAL_CARRIAGE CARRIAGE=1 MODE=COPY" or
"SET_DUAL_CARRIAGE CARRIAGE=1 MODE=MIRROR" commands to activate either copying
or mirroring mode of the dual carriage, in which case it will follow the
motion of the carriage 0 accordingly. These commands can be used to print
two parts simultaneously - either two identical parts (in COPY mode) or
mirrored parts (in MIRROR mode). Note that COPY and MIRROR modes also require
appropriate configuration of the extruder on the dual carriage, which can
typically be achieved with
"SYNC_EXTRUDER_MOTION MOTION_QUEUE=extruder EXTRUDER=<dual_carriage_extruder>"
or a similar command.
See [sample-idex.cfg](../config/sample-idex.cfg) for an example
configuration.
@@ -2024,6 +2034,15 @@ configuration.
axis:
# The axis this extra carriage is on (either x or y). This parameter
# must be provided.
#safe_distance:
# The minimum distance (in mm) to enforce between the dual and the primary
# carriages. If a G-Code command is executed that will bring the carriages
# closer than the specified limit, such a command will be rejected with an
# error. If safe_distance is not provided, it will be inferred from
# position_min and position_max for the dual and primary carriages. If set
# to 0 (or safe_distance is unset and position_min and position_max are
# identical for the primary and dual carraiges), the carriages proximity
# checks will be disabled.
#step_pin:
#dir_pin:
#enable_pin:

30
docs/G-Codes.md
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@@ -310,9 +310,33 @@ The following command is available when the
enabled.
#### SET_DUAL_CARRIAGE
`SET_DUAL_CARRIAGE CARRIAGE=[0|1]`: This command will set the active
carriage. It is typically invoked from the activate_gcode and
deactivate_gcode fields in a multiple extruder configuration.
`SET_DUAL_CARRIAGE CARRIAGE=[0|1] [MODE=[PRIMARY|COPY|MIRROR]]`:
This command will change the mode of the specified carriage.
If no `MODE` is provided it defaults to `PRIMARY`. Setting the mode
to `PRIMARY` deactivates the other carriage and makes the specified
carriage execute subsequent G-Code commands as-is. `COPY` and `MIRROR`
modes are supported only for `CARRIAGE=1`. When set to either of these
modes, carriage 1 will then track the subsequent moves of the carriage 0
and either copy relative movements of it (in `COPY` mode) or execute them
in the opposite (mirror) direction (in `MIRROR` mode).
#### SAVE_DUAL_CARRIAGE_STATE
`SAVE_DUAL_CARRIAGE_STATE [NAME=<state_name>]`: Save the current positions
of the dual carriages and their modes. Saving and restoring DUAL_CARRIAGE
state can be useful in scripts and macros, as well as in homing routine
overrides. If NAME is provided it allows one to name the saved state
to the given string. If NAME is not provided it defaults to "default".
#### RESTORE_DUAL_CARRIAGE_STATE
`RESTORE_DUAL_CARRIAGE_STATE [NAME=<state_name>] [MOVE=[0|1] [MOVE_SPEED=<speed>]]`:
Restore the previously saved positions of the dual carriages and their modes,
unless "MOVE=0" is specified, in which case only the saved modes will be
restored, but not the positions of the carriages. If positions are being
restored and "MOVE_SPEED" is specified, then the toolhead moves will be
performed with the given speed (in mm/s); otherwise the toolhead move will
use the rail homing speed. Note that the carriages restore their positions
only over their own axis, which may be necessary to correctly restore COPY
and MIRROR mode of the dual carraige.
### [endstop_phase]

36
docs/Resonance_Compensation.md
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@@ -418,18 +418,34 @@ if necessary.
### Is dual carriage setup supported with input shapers?
There is no dedicated support for dual carriages with input shapers, but it does
not mean this setup will not work. One should run the tuning twice for each
of the carriages, and calculate the ringing frequencies for X and Y axes for
each of the carriages independently. Then put the values for carriage 0 into
[input_shaper] section, and change the values on the fly when changing
carriages, e.g. as a part of some macro:
```
SET_DUAL_CARRIAGE CARRIAGE=1
SET_INPUT_SHAPER SHAPER_FREQ_X=... SHAPER_FREQ_Y=...
Yes. In this case, one should measure the resonances twice for each carriage.
For example, if the second (dual) carriage is installed on X axis, it is
possible to set different input shapers for X axis for the primary and dual
carriages. However, the input shaper for Y axis should be the same for both
carriages (as ultimately this axis is driven by one or more stepper motors each
commanded to perform exactly the same steps). One possibility to configure
the input shaper for such setups is to keep `[input_shaper]` section empty and
additionally define a `[delayed_gcode]` section in the `printer.cfg` as follows:
```
[input_shaper]
# Intentionally empty
And similarly when switching back to carriage 0.
[delayed_gcode init_shaper]
initial_duration: 0.1
gcode:
SET_DUAL_CARRIAGE CARRIAGE=1
SET_INPUT_SHAPER SHAPER_TYPE_X=<dual_carriage_shaper> SHAPER_FREQ_X=<dual_carriage_freq> SHAPER_TYPE_Y=<y_shaper> SHAPER_FREQ_Y=<y_freq>
SET_DUAL_CARRIAGE CARRIAGE=0
SET_INPUT_SHAPER SHAPER_TYPE_X=<primary_carriage_shaper> SHAPER_FREQ_X=<primary_carriage_freq> SHAPER_TYPE_Y=<y_shaper> SHAPER_FREQ_Y=<y_freq>
```
Note that `SHAPER_TYPE_Y` and `SHAPER_FREQ_Y` should be the same in both
commands. It is also possible to put a similar snippet into the start g-code
in the slicer, however then the shaper will not be enabled until any print
is started.
Note that the input shaper only needs to be configured once. Subsequent changes
of the carriages or their modes via `SET_DUAL_CARRIAGE` command will preserve
the configured input shaper parameters.
### Does input_shaper affect print time?

9
docs/Status_Reference.md
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@@ -503,10 +503,11 @@ The following information is available in the `toolhead` object
The following information is available in
[dual_carriage](Config_Reference.md#dual_carriage)
on a hybrid_corexy or hybrid_corexz robot
- `mode`: The current mode. Possible values are: "FULL_CONTROL"
- `active_carriage`: The current active carriage.
Possible values are: "CARRIAGE_0", "CARRIAGE_1"
on a cartesian, hybrid_corexy or hybrid_corexz robot
- `carriage_0`: The mode of the carriage 0. Possible values are:
"INACTIVE" and "PRIMARY".
- `carriage_1`: The mode of the carriage 1. Possible values are:
"INACTIVE", "PRIMARY", "COPY", and "MIRROR".
## virtual_sdcard