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Update ratos_hybrid_corexy.py #81

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d5f5cf3
Update ratos_hybrid_corexy.py
dbstf May 7, 2025
0dadb89
Update ratos_hybrid_corexy.py
dbstf Sep 11, 2025
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21 changes: 12 additions & 9 deletions configuration/klippy/kinematics/ratos_hybrid_corexy.py
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Original file line number Diff line number Diff line change
Expand Up @@ -3,6 +3,7 @@
# Copyright (C) 2021 Fabrice Gallet <[email protected]>
# Modified 2023 by Helge Magnus Keck <[email protected]>
# Modified 2024 by Mikkel Schmidt <[email protected]>
# Modified 2025 by Github user 'dbstf'
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import logging
Expand Down Expand Up @@ -42,7 +43,7 @@ def __init__(self, toolhead, config):
self.dc_module = None
if config.has_section('dual_carriage'):
dc_config = config.getsection('dual_carriage')
# dummy for cartesian config users
# dummy for Cartesian config users
dc_config.getchoice('axis', {'x': 'x'}, default='x')
# setup second dual carriage rail
self.rails.append(stepper.LookupMultiRail(dc_config))
Expand All @@ -60,12 +61,10 @@ def __init__(self, toolhead, config):
self.rails[3].steppers[1].setup_itersolve('corexy_stepper_alloc', b'+')
if len(self.rails[3].steppers)>2:
raise self.error("Unexpected stepper configuration")
dc_rail_0 = idex_modes.DualCarriagesRail(
self.rails[0], axis=0, active=True)
dc_rail_1 = idex_modes.DualCarriagesRail(
self.rails[3], axis=0, active=False)
self.dc_module = idex_modes.DualCarriages(
dc_config, dc_rail_0, dc_rail_1, axis=0)
self.printer, [self.rails[0]], [self.rails[3]], axes=[0],
safe_dist=dc_config.getfloat(
'safe_distance', None, minval=0.))
for s in self.get_steppers():
s.set_trapq(toolhead.get_trapq())
toolhead.register_step_generator(s.generate_steps)
Expand Down Expand Up @@ -103,11 +102,15 @@ def set_position(self, newpos, homing_axes):
for i, rail in enumerate(self.rails):
rail.set_position(newpos)
for axis in homing_axes:
if self.dc_module and axis == self.dc_module.axis:
rail = self.dc_module.get_primary_rail().get_rail()
if self.dc_module and axis == 0:
rail = self.dc_module.get_primary_rail(axis)
else:
rail = self.rails[axis]
self.limits[axis] = 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 @@ -126,7 +129,7 @@ def home_axis(self, homing_state, axis, rail):
def home(self, homing_state):
for axis in homing_state.get_axes():
if self.dc_module is not None and axis == 0:
self.dc_module.home(homing_state)
self.dc_module.home(homing_state, axis)
else:
self.home_axis(homing_state, axis, self.rails[axis])
def _motor_off(self, print_time):
Expand Down