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idex_modes: Fixed the case when carriages home in the same direction (#6310)

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Previous version of the code assumed that dual carriages home away
from each other, which is not true on some machines, which have the
second dual carriage homing on the first carriage. The new code
correctly identifies the relative order of the carriages now.

This fixes discrepancies between the documentation and the actual
implementation of the carriages kinematic ranges calculation.

Notes about dual_carriage homing and proximity checks changes

Fixed clearing of homing state after homing in certain modes

In case of multi-MCU homing it is possible that the carriage position
will end up outside of the allowed motion range due to latencies in data
transmission between MCUs. Selecting certain modes after homing could
result in home state clearing instead of blocking the motion of the
active carriage. This commit fixes this undesired behavior.

Signed-off-by: Dmitry Butyugin <dmbutyugin@google.com>
This commit is contained in:
Dmitry Butyugin
2023-09-30 02:46:42 +09:00
committed by GitHub
parent 21b7842979
commit a4cd0336bd
3 changed files with 62 additions and 8 deletions
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9
docs/Config_Changes.md
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@@ -8,6 +8,15 @@ All dates in this document are approximate.
## Changes
20230826: If `safe_distance` is set or calculated to be 0 in `[dual_carriage]`,
the carriages proximity checks will be disabled as per documentation. A user
may wish to configure `safe_distance` explicitly to prevent accidental crashes
of the carriages with each other. Additionally, the homing order of the primary
and the dual carriage is changed in some configurations (certain configurations
when both carriages home in the same direction, see
[[dual_carriage] configuration reference](./Config_Reference.md#dual_carriage)
for more details).
20230810: The flash-sdcard.sh script now supports both variants of the
Bigtreetech SKR-3, STM32H743 and STM32H723. For this, the original tag
of btt-skr-3 now has changed to be either btt-skr-3-h743 or btt-skr-3-h723.