Autogenerated - Upstream 4d89d74

klippy/.version

@@ -1 +1 @@
-171e3bf
+4d89d74

klippy/extras/servo.py

@@ -58,13 +58,15 @@ def _get_pwm_from_pulse_width(self, width):
         return width * self.width_to_value
     cmd_SET_SERVO_help = "Set servo angle"
     def cmd_SET_SERVO(self, gcmd):
-        print_time = self.printer.lookup_object('toolhead').get_last_move_time()
         width = gcmd.get_float('WIDTH', None)
         if width is not None:
-            self._set_pwm(print_time, self._get_pwm_from_pulse_width(width))
+            value = self._get_pwm_from_pulse_width(width)
         else:
             angle = gcmd.get_float('ANGLE')
-            self._set_pwm(print_time, self._get_pwm_from_angle(angle))
+            value = self._get_pwm_from_angle(angle)
+        toolhead = self.printer.lookup_object('toolhead')
+        toolhead.register_lookahead_callback((lambda pt:
+                                              self._set_pwm(pt, value)))
 
 def load_config_prefix(config):
     return PrinterServo(config)

klippy/kinematics/idex_modes.py

@@ -4,7 +4,7 @@
 # Copyright (C) 2023  Dmitry Butyugin <[email protected]>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
-import math
+import logging, math
 from .. import chelper
 
 INACTIVE = 'INACTIVE'
@@ -202,14 +202,31 @@ def cmd_RESTORE_DUAL_CARRIAGE_STATE(self, gcmd):
         move_speed = gcmd.get_float('MOVE_SPEED', 0., above=0.)
         toolhead = self.printer.lookup_object('toolhead')
         toolhead.flush_step_generation()
-        pos = toolhead.get_position()
         if gcmd.get_int('MOVE', 1):
+            homing_speed = 99999999.
+            cur_pos = []
             for i, dc in enumerate(self.dc):
                 self.toggle_active_dc_rail(i)
-                saved_pos = saved_state['axes_positions'][i]
-                toolhead.manual_move(
-                        pos[:self.axis] + [saved_pos] + pos[self.axis+1:],
-                        move_speed or dc.get_rail().homing_speed)
+                homing_speed = min(homing_speed, dc.get_rail().homing_speed)
+                cur_pos.append(toolhead.get_position())
+            move_pos = list(cur_pos[0])
+            dl = [saved_state['axes_positions'][i] - cur_pos[i][self.axis]
+                  for i in range(2)]
+            primary_ind = 0 if abs(dl[0]) >= abs(dl[1]) else 1
+            self.toggle_active_dc_rail(primary_ind)
+            move_pos[self.axis] = saved_state['axes_positions'][primary_ind]
+            dc_mode = INACTIVE if min(abs(dl[0]), abs(dl[1])) < 0.000000001 \
+                    else COPY if dl[0] * dl[1] > 0 else MIRROR
+            if dc_mode != INACTIVE:
+                self.dc[1-primary_ind].activate(dc_mode, cur_pos[primary_ind])
+                self.dc[1-primary_ind].override_axis_scaling(
+                        abs(dl[1-primary_ind] / dl[primary_ind]),
+                        cur_pos[primary_ind])
+            toolhead.manual_move(move_pos, move_speed or homing_speed)
+            toolhead.flush_step_generation()
+            # Make sure the scaling coefficients are restored with the mode
+            self.dc[0].inactivate(move_pos)
+            self.dc[1].inactivate(move_pos)
         for i, dc in enumerate(self.dc):
             saved_mode = saved_state['carriage_modes'][i]
             self.activate_dc_mode(i, saved_mode)
@@ -257,3 +274,8 @@ def inactivate(self, position):
         self.scale = 0.
         self.apply_transform()
         self.mode = INACTIVE
+    def override_axis_scaling(self, new_scale, position):
+        old_axis_position = self.get_axis_position(position)
+        self.scale = math.copysign(new_scale, self.scale)
+        self.offset = old_axis_position - position[self.axis] * self.scale
+        self.apply_transform()

testcases/klippy/dual_carriage.cfg

@@ -61,7 +61,7 @@ pid_Kd: 114
 min_temp: 0
 max_temp: 250
 
-[gcode_macro PARK_extruder0]
+[gcode_macro PARK_extruder]
 gcode:
     G90
     G1 X0

testcases/klippy/dual_carriage.test

@@ -17,6 +17,18 @@ G1 X190 F6000
 SET_DUAL_CARRIAGE CARRIAGE=0
 G1 X20 F6000
 
+# Save dual carriage state
+SAVE_DUAL_CARRIAGE_STATE
+
+G1 X50 F6000
+
+# Go back to alternate carriage
+SET_DUAL_CARRIAGE CARRIAGE=1
+G1 X170 F6000
+
+# Restore dual carriage state
+RESTORE_DUAL_CARRIAGE_STATE
+
 # Test changing extruders
 G1 X5
 T1