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dual_carriage: Fixed input shaper stepper kinematics initialization

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Signed-off-by: Dmitry Butyugin <dmbutyugin@google.com>
This commit is contained in:
Dmitry Butyugin 2025-05-17 17:28:58 +02:00 committed by KevinOConnor
parent 17b8ce4c6b
commit b1011e3fb1
2 changed files with 13 additions and 3 deletions
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4
klippy/extras/input_shaper.py
View File

@ -101,6 +101,10 @@ class InputShaper:
desc=self.cmd_SET_INPUT_SHAPER_help)
def get_shapers(self):
return self.shapers
def init_for_steppers(self, steppers):
ffi_main, ffi_lib = chelper.get_ffi()
for s in steppers:
self._get_input_shaper_stepper_kinematics(s)
def connect(self):
self.toolhead = self.printer.lookup_object("toolhead")
# Configure initial values

12
klippy/kinematics/idex_modes.py
View File

@ -18,7 +18,7 @@ class DualCarriages:
safe_dist={}):
self.printer = printer
self.axes = axes
self._init_steppers(primary_rails + dual_rails)
steppers = self._init_steppers(primary_rails + dual_rails)
self.primary_rails = [
DualCarriagesRail(c, dual_rails[i], axes[i], active=True)
for i, c in enumerate(primary_rails)]
@ -28,6 +28,7 @@ class DualCarriages:
self.dc_rails = collections.OrderedDict(
[(c.rail.get_name(short=True), c)
for c in self.primary_rails + self.dual_rails])
self._init_shapers(steppers)
self.saved_states = {}
self.safe_dist = {}
for i, dc in enumerate(dual_rails):
@ -75,6 +76,13 @@ class DualCarriages:
self.dc_stepper_kinematics.append(sk)
self.orig_stepper_kinematics.append(orig_sk)
s.set_stepper_kinematics(sk)
return steppers
def _init_shapers(self, steppers):
input_shaper = self.printer.lookup_object("input_shaper", None)
if input_shaper is not None:
# Make sure to initialize input shaper stepper kinematics
# before modifying IDEX stepper kinematics.
input_shaper.init_for_steppers(steppers)
def get_axes(self):
return self.axes
def get_primary_rail(self, axis):
@ -213,8 +221,6 @@ class DualCarriages:
dc.activate(mode, toolhead.get_position())
kin.update_limits(axis, self.get_kin_range(toolhead, mode, axis))
def _handle_ready(self):
# Apply the transform later during Klipper initialization to make sure
# that input shaping can pick up the correct stepper kinematic flags.
for dc_rail in self.dc_rails.values():
dc_rail.apply_transform()
cmd_SET_DUAL_CARRIAGE_help = "Configure the dual carriages mode"