idex_modes: Bugfix for kinematic position calculation.

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)}