idex_modes: Bugfix for kinematic position calculation.

idex_mode would swap the X and dual-carriage rail in some cases
(homing), but not in others. As such, the position calculation was
correct while homing, but incorrect for the second carriage during
normal moves. This commit fixes homing to work without swapped rails,
removes the swapping of rails while homing, and removes the ability to
swap rails (as it is now no longer used). Fix has been tested in a
Hybrid_CoreXY IDEX printer (Voron Double Dragon). Hybrid_CoreXZ has
identical changes and is similar enough that I am confident it will work
as intended. Changes to cartesion seem simple enough, but would benefit
from someone running a couple of tests.

Signed-off-by: Frans-Willem Hardijzer <[email protected]>

klippy/kinematics/cartesian.py

@@ -52,20 +52,27 @@ def __init__(self, toolhead, config):
     def get_steppers(self):
         return [s for rail in self.rails for s in rail.get_steppers()]
     def calc_position(self, stepper_positions):
-        return [stepper_positions[rail.get_name()] for rail in self.rails]
+        rails = self.rails
+        if self.dc_module:
+            primary_rail = self.dc_module.get_primary_rail().get_rail()
+            rails = (rails[:self.dc_module.axis] +
+                     [primary_rail] + rails[self.dc_module.axis+1:])
+        return [stepper_positions[rail.get_name()] for rail in rails]
     def update_limits(self, i, range):
         l, h = self.limits[i]
         # Only update limits if this axis was already homed,
         # otherwise leave in un-homed state.
         if l <= h:
             self.limits[i] = range
-    def override_rail(self, i, rail):
-        self.rails[i] = rail
     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()
+        for axis in homing_axes:
+            if self.dc_module and axis == self.dc_module.axis:
+                rail = self.dc_module.get_primary_rail().get_rail()
+            else:
+                rail = self.rails[axis]
+            self.limits[axis] = rail.get_range()
     def note_z_not_homed(self):
         # Helper for Safe Z Home
         self.limits[2] = (1.0, -1.0)

klippy/kinematics/hybrid_corexy.py

@@ -58,7 +58,7 @@ def calc_position(self, stepper_positions):
         pos = [stepper_positions[rail.get_name()] for rail in self.rails]
         if (self.dc_module is not None and 'PRIMARY' == \
                     self.dc_module.get_status()['carriage_1']):
-            return [pos[0] - pos[1], pos[1], pos[2]]
+            return [pos[3] - pos[1], pos[1], pos[2]]
         else:
             return [pos[0] + pos[1], pos[1], pos[2]]
     def update_limits(self, i, range):
@@ -67,13 +67,15 @@ def update_limits(self, i, range):
         # otherwise leave in un-homed state.
         if l <= h:
             self.limits[i] = range
-    def override_rail(self, i, rail):
-        self.rails[i] = rail
     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()
+        for axis in homing_axes:
+            if self.dc_module and axis == self.dc_module.axis:
+                rail = self.dc_module.get_primary_rail().get_rail()
+            else:
+                rail = self.rails[axis]
+            self.limits[axis] = rail.get_range()
     def note_z_not_homed(self):
         # Helper for Safe Z Home
         self.limits[2] = (1.0, -1.0)

klippy/kinematics/hybrid_corexz.py

@@ -58,7 +58,7 @@ def calc_position(self, stepper_positions):
         pos = [stepper_positions[rail.get_name()] for rail in self.rails]
         if (self.dc_module is not None and 'PRIMARY' == \
                     self.dc_module.get_status()['carriage_1']):
-            return [pos[0] - pos[2], pos[1], pos[2]]
+            return [pos[3] - pos[2], pos[1], pos[2]]
         else:
             return [pos[0] + pos[2], pos[1], pos[2]]
     def update_limits(self, i, range):
@@ -67,13 +67,15 @@ def update_limits(self, i, range):
         # otherwise leave in un-homed state.
         if l <= h:
             self.limits[i] = range
-    def override_rail(self, i, rail):
-        self.rails[i] = rail
     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()
+        for axis in homing_axes:
+            if self.dc_module and axis == self.dc_module.axis:
+                rail = self.dc_module.get_primary_rail().get_rail()
+            else:
+                rail = self.rails[axis]
+            self.limits[axis] = rail.get_range()
     def note_z_not_homed(self):
         # Helper for Safe Z Home
         self.limits[2] = (1.0, -1.0)

klippy/kinematics/idex_modes.py

@@ -42,7 +42,12 @@ def __init__(self, dc_config, rail_0, rail_1, axis):
                    desc=self.cmd_RESTORE_DUAL_CARRIAGE_STATE_help)
     def get_rails(self):
         return self.dc
-    def toggle_active_dc_rail(self, index, override_rail=False):
+    def get_primary_rail(self):
+        for rail in self.dc:
+            if rail.mode == PRIMARY:
+                return rail
+        return None
+    def toggle_active_dc_rail(self, index):
         toolhead = self.printer.lookup_object('toolhead')
         toolhead.flush_step_generation()
         pos = toolhead.get_position()
@@ -52,15 +57,11 @@ def toggle_active_dc_rail(self, index, override_rail=False):
             if i != index:
                 if dc.is_active():
                     dc.inactivate(pos)
-                if override_rail:
-                    kin.override_rail(3, dc_rail)
         target_dc = self.dc[index]
         if target_dc.mode != PRIMARY:
             newpos = pos[:self.axis] + [target_dc.get_axis_position(pos)] \
                         + pos[self.axis+1:]
             target_dc.activate(PRIMARY, newpos, old_position=pos)
-            if override_rail:
-                kin.override_rail(self.axis, target_dc.get_rail())
             toolhead.set_position(newpos)
         kin.update_limits(self.axis, target_dc.get_rail().get_range())
     def home(self, homing_state):
@@ -72,10 +73,10 @@ def home(self, homing_state):
             # the same direction and the first carriage homes on the second one
             enumerated_dcs.reverse()
         for i, dc_rail in enumerated_dcs:
-            self.toggle_active_dc_rail(i, override_rail=True)
+            self.toggle_active_dc_rail(i)
             kin.home_axis(homing_state, self.axis, dc_rail.get_rail())
         # Restore the original rails ordering
-        self.toggle_active_dc_rail(0, override_rail=True)
+        self.toggle_active_dc_rail(0)
     def get_status(self, eventtime=None):
         return {('carriage_%d' % (i,)) : dc.mode
                 for (i, dc) in enumerate(self.dc)}