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Updates Hangprinter support #1230

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Updates Hangprinter support #1230

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02473d7
Updates Hangprinter support
tobbelobb May 7, 2026
7253bc5
Allows one force/torque per motor in Hangprinter's M569.4
tobbelobb May 7, 2026
4dfc459
Simplifies config/direction logic in HangprinterKinematics
tobbelobb May 26, 2026
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31 changes: 29 additions & 2 deletions src/CAN/CanInterface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1077,9 +1077,36 @@ GCodeResult CanInterface::ConfigureRemoteDriver(DriverId driver, GCodeBuffer& gb
Kinematics &_ecv_from kin = reprap.GetMove().GetKinematics();
if (kin.GetKinematicsType() == KinematicsType::hangprinter)
{
gb.MustSee('P');
size_t drivesCount = reprap.GetGCodes().GetVisibleAxes();
DriverId driverIds[drivesCount];
gb.GetDriverIdArray(driverIds, drivesCount);

gb.MustSee('T');
const float torque = gb.GetFValue();
return ((HangprinterKinematics&)kin).SetODrive3TorqueMode(driver, torque, reply);
float forces[drivesCount];
size_t forceCount = drivesCount;
gb.GetFloatArray(forces, forceCount, true);
if (forceCount != drivesCount)
{
reply.copy("M569.4 requires one T value per P");
return GCodeResult::error;
}

size_t driverIndex = drivesCount;
for (size_t i = 0; i < drivesCount; ++i)
{
if (driverIds[i] == driver)
{
driverIndex = i;
break;
}
}
if (driverIndex == drivesCount)
{
reply.copy("M569.4 driver not found in P list");
return GCodeResult::error;
}
return ((HangprinterKinematics&)kin).SetODrive3TorqueMode(driver, forces[driverIndex], reply);
}
}
#endif
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