Merge pull request #21 from TypQxQ/dev

Dev

Author: TypQxQ

README.md

@@ -29,14 +29,10 @@ This helps [Klipper](https://github.com/Klipper3d/klipper) with ToolChanging fun
 
 This is a complete rewrite of [KTCC v.1](https://github.com/TypQxQ/Klipper_ToolChanger) to be more versatile and have indefinite levels of toolchangers. Inspiration comes mainly from how RRF enables toolchanging and from the HappyHare project.
 
-# !!!!!!!!!!!!!!!!!!!!!!!!!!
-# This is still under development
-Published for preview.
-The code works but the documentation is not finished yet.
-# !!!!!!!!!!!!!!!!!!!!!!!!!!
-
 I welcome any and all input and contributions. Don't be afraid to make a pull request :D
 
+Complex code example is still under construction.
+
 Thank you!
 
 ## ![#f98b00](/doc/f98b00.png) ![#fe3263](/doc/fe3263.png) ![#0fefa9](/doc/0fefa9.png) ![#085afe](/doc/085afe.png) Table of Contents
@@ -177,5 +173,12 @@ States can be set like: `KTC_SET_STATE TOOLCHANGER={myself.name} STATE=READY`
   - `ACTIVE` - Tool is active as main engaged tool for ktc.
 
 ## ![#f98b00](/doc/f98b00.png) ![#fe3263](/doc/fe3263.png) ![#0fefa9](/doc/0fefa9.png) ![#085afe](/doc/085afe.png) Example configuration
-My corrent configuration is for v.2 where work progresses fast.
+My current configuration can be refferenced here: https://github.com/TypQxQ/DuetBackup/tree/main/qTC-Klipper
+
+## ![#f98b00](/doc/f98b00.png) ![#fe3263](/doc/fe3263.png) ![#0fefa9](/doc/0fefa9.png) ![#085afe](/doc/085afe.png) Related projects
+  - [kTAMV - Klipper Tool Alignment (using) Machine Vision](https://github.com/TypQxQ/kTAMV)  allows X and Y allignment betwween multiple tools on a 3D printer using a camera that points up towards the nozzle from inside Klipper.
+
+  - [KnobProbe](https://github.com/TypQxQ/KnobProbe_Klipper) allows Z allignment between multiple tools.
+
+  - [Query Endstop Continuesly in Klipper](https://github.com/TypQxQ/Query-Endstop-Continuesly-in-Klipper) Klipper module that adds a G-code command so Klipper will pause until specified endstop is in selected state, triggered or not triggered. Alternativley it can query a specified amount of times.
 

config/example_config/complete/complete_example.cfg

@@ -1,6 +1,23 @@
 # Under development
 
-[ktc]
+# Example of a KTC configuration file for a 5 tool printer and 2 toolchangers.
+# This assumes that the printer is configured with 2 extruders and 2 part cooling fans:
+# - [extruder0] and [fan_generic partfan_t0] for the first extruder and part cooling fan
+# - [extruder1] and [fan_generic partfan_t1] for the second extruder and part cooling fan
+# - This asumes that the printer also has a ERCF MMU unit with 3 gates configured with HappyHare.
+
+# Object tree inheritance:
+# - KTC
+    #   Jubilee
+        #   Tool 0
+            # ERCF
+                #   Tool 2
+                #   Tool 3
+                #   Tool 4
+        #   Tool 1
+
+
+[ktc_toolchanger Jubilee]
 
 [ktc_tool 0]
 tool_number: 0
@@ -13,3 +30,81 @@ tool_number: 1
 heater: extruder1
 fans: partfan_t1
 params_park:198,150, 0
+
+[ktc_toolchanger ERCF]
+parent_tool: 0
+tool_deselect_gcode:
+    # This code will be inherited by ktc_tool 2, 3 and 4.
+    MMU_EJECT
+
+[ktc_tool 2]
+tool_select_gcode:
+    # This code will not be inherited.
+    MMU_CHANGE_TOOL TOOL=0 STANDALONE=1
+
+[ktc_tool 3]
+tool_select_gcode:
+    MMU_CHANGE_TOOL TOOL=1 STANDALONE=1
+
+[ktc_tool 4]
+tool_select_gcode:
+    MMU_CHANGE_TOOL TOOL=2 STANDALONE=1
+
+[ktc]
+default_toolchanger = Jubilee
+
+# Tool change gcode that will be inherited by all tools not overriding it.
+tool_select_gcode:
+  # myself will be replaced with the tool that is selected
+  # This code will be inherited by Jubillee and on untill overriden by tool 2, 3 or 4.
+  KTC_TOOL_SET_TEMPERATURE TOOL={myself.name} CHNG_STATE=2   # Put tool heater in Active mode so heating while moving
+
+  SAVE_GCODE_STATE NAME=TOOL_PICKUP                          # Save GCODE state. Will be restored at the end of pickup code
+  G90
+
+  ##############  Move in to parking spot  ##############
+  G0 X150 F40000                                             # Fast move X inside the safezone, so we don't crash into other tools.
+  G0 Y{myself.zone[1]} F40000                                # Fast move Y in front of parking spot.
+  G0 X{myself.params_park[0]} F3000                          # Slow Move to the pickup position for tool.
+
+  ##############  Atach Tool  ##############
+  # Asume attached
+
+  ##############  Tool Z Offset  ##############
+  SET_GCODE_OFFSET Z={myself.offset[2]} MOVE=1               # Set and move the Z offset. Avoid crashing into bed when moving out later.
+
+  ##############  Wait for heater  ##############
+  {% if myself.heater_names|length > 0 %}                    # If the tool has an extruder:
+    ACTIVATE_EXTRUDER EXTRUDER={myself.heater_names[0]}      # Activate the extruder
+    KTC_TEMPERATURE_WAIT_WITH_TOLERANCE TOOL={myself.name}   # Wait for tool to reach target temperature.
+  {% endif %}                                                # /
+
+  ##############  Move out  ##############
+  G0 X150 F6000                                              # Slow Move to the zone position for tool.
+
+  ##############  Finnish up  ##############
+  M400                                                       # Wait for current moves to finish.
+  RESTORE_GCODE_STATE NAME=TOOL_PICKUP MOVE=0                # Restore GCODE state. Was saved at thebegining of SUB_TOOL_PICKUP_START. Move fast to last location.
+                                                             # Set the toolhead offsets. Needs to be after any RESTORE_GCODE_STATE!
+  SET_GCODE_OFFSET X={myself.offset[0]} Y={myself.offset[1]} Z={myself.offset[2]} MOVE=0
+
+tool_deselect_gcode:
+  # myself will be replaced with the tool that is deselected
+  # This code will be inherited by Jubillee and on untill overriden by ERCF.
+
+  SET_GCODE_OFFSET X=0 Y=0                                   # Set XY offset to 0 so we park the tool right.
+  SAVE_GCODE_STATE NAME=TOOL_DROPOFF                         # Save GCode state.
+  G90                                                        # Absolute positions
+
+  ##############  Move in to parking spot  ##############
+  G0 X150 F40000                                             # Move X and
+  G0 Y{myself.zone[1]} F40000                                # Fast move Y in front of parking spot.
+  G0 X{myself.park[0]} F3000                                 # Slow Move to the dropoff position for tool.
+
+  ##############  Detach Tool  ##############
+  G0 Y{myself.zone[1]|float - 15} F40000                     # Detach tool
+
+  G0 X150 F40000                                             # Fast Move to the general pickup position for tools.
+
+  RESTORE_GCODE_STATE NAME=TOOL_DROPOFF MOVE=0               # Restore Gcode state
+  SET_GCODE_OFFSET Z=0                                       # Set Z offset to 0 after too is parked.

doc/configuration.md

@@ -95,7 +95,8 @@ The topmost object contains inheritable options that will be inherited by all ot
 ```
 [ktc]
 #propagate_state = True
-#   Propa
+#   Propagate state when changed on a tool, down through the tree to the ktc object.
+#   For example setting a tool state as selected will set it's changer to engaged.
 #default_toolchanger = <name of the only ktc_toolchanger object>
 #   This is required when specifying more than one ktc_toolchanger section.
 #   Otherwise it will default to the name of the only