Merge remote-tracking branch 'upstream/Marlin_v1' into delta-configuration

Conflicts:
	Marlin/Marlin_main.cpp

Marlin/Configuration.h

 // 3  = MEGA/RAMPS up to 1.2 = 3
 // 33 = RAMPS 1.3 / 1.4 (Power outputs: Extruder, Fan, Bed)
 // 34 = RAMPS 1.3 / 1.4 (Power outputs: Extruder0, Extruder1, Bed)
+// 35 = RAMPS 1.3 / 1.4 (Power outputs: Extruder, Fan, Fan)
 // 4  = Duemilanove w/ ATMega328P pin assignment
 // 5  = Gen6
 // 51 = Gen6 deluxe

Marlin/Configuration_adv.h

   #define EXTRUDERS 1
 #endif
 
+// Enable this for dual x-carriage printers. 
+// A dual x-carriage design has the advantage that the inactive extruder can be parked which
+// prevents hot-end ooze contaminating the print. It also reduces the weight of each x-carriage
+// allowing faster printing speeds.
+//#define DUAL_X_CARRIAGE
+#ifdef DUAL_X_CARRIAGE
+// Configuration for second X-carriage
+// Note: the first x-carriage is defined as the x-carriage which homes to the minimum endstop;
+// the second x-carriage always homes to the maximum endstop.
+#define X2_MIN_POS 88     // set minimum to ensure second x-carriage doesn't hit the parked first X-carriage
+#define X2_MAX_POS 350.45 // set maximum to the distance between toolheads when both heads are homed 
+#define X2_HOME_DIR 1     // the second X-carriage always homes to the maximum endstop position
+#define X2_HOME_POS X2_MAX_POS // default home position is the maximum carriage position 
+    // However: In this mode the EXTRUDER_OFFSET_X value for the second extruder provides a software 
+    // override for X2_HOME_POS. This also allow recalibration of the distance between the two endstops
+    // without modifying the firmware (through the "M218 T1 X???" command).
+    // Remember: you should set the second extruder x-offset to 0 in your slicer.
+
+// Pins for second x-carriage stepper driver (defined here to avoid further complicating pins.h)
+#define X2_ENABLE_PIN 29
+#define X2_STEP_PIN 25
+#define X2_DIR_PIN 23
+
+#endif // DUAL_X_CARRIAGE
+    
 //homing hits the endstop, then retracts by this distance, before it tries to slowly bump again:
 #define X_HOME_RETRACT_MM 5 
 #define Y_HOME_RETRACT_MM 5

Marlin/Marlin.h

 
 void manage_inactivity();
 
-#if defined(X_ENABLE_PIN) && X_ENABLE_PIN > -1
+#if defined(DUAL_X_CARRIAGE) && defined(X_ENABLE_PIN) && X_ENABLE_PIN > -1 \
+    && defined(X2_ENABLE_PIN) && X2_ENABLE_PIN > -1
+  #define  enable_x() do { WRITE(X_ENABLE_PIN, X_ENABLE_ON); WRITE(X2_ENABLE_PIN, X_ENABLE_ON); } while (0)
+  #define disable_x() do { WRITE(X_ENABLE_PIN,!X_ENABLE_ON); WRITE(X2_ENABLE_PIN,!X_ENABLE_ON); } while (0)
+#elif defined(X_ENABLE_PIN) && X_ENABLE_PIN > -1
   #define  enable_x() WRITE(X_ENABLE_PIN, X_ENABLE_ON)
   #define disable_x() WRITE(X_ENABLE_PIN,!X_ENABLE_ON)
 #else

Marlin/Marlin_main.cpp

   float retract_recover_length=0, retract_recover_feedrate=8*60;
 #endif
 
+#ifdef ULTIPANEL
+	bool powersupply = true;
+#endif
+
 //===========================================================================
 //=============================private variables=============================
 //===========================================================================
 XYZ_CONSTS_FROM_CONFIG(float, home_retract_mm, HOME_RETRACT_MM);
 XYZ_CONSTS_FROM_CONFIG(signed char, home_dir,  HOME_DIR);
 
+#ifdef DUAL_X_CARRIAGE
+  #if EXTRUDERS == 1 || defined(COREXY) \
+      || !defined(X2_ENABLE_PIN) || !defined(X2_STEP_PIN) || !defined(X2_DIR_PIN) \
+      || !defined(X2_HOME_POS) || !defined(X2_MIN_POS) || !defined(X2_MAX_POS) \
+      || !defined(X_MAX_PIN) || X_MAX_PIN < 0
+    #error "Missing or invalid definitions for DUAL_X_CARRIAGE mode."
+  #endif
+  #if X_HOME_DIR != -1 || X2_HOME_DIR != 1
+    #error "Please use canonical x-carriage assignment" // the x-carriages are defined by their homing directions
+  #endif  
+    
+static float x_home_pos(int extruder) {
+  if (extruder == 0)
+    return base_home_pos(X_AXIS) + add_homeing[X_AXIS];
+  else
+    // In dual carriage mode the extruder offset provides an override of the
+    // second X-carriage offset when homed - otherwise X2_HOME_POS is used.
+    // This allow soft recalibration of the second extruder offset position without firmware reflash 
+    // (through the M218 command).
+    return (extruder_offset[X_AXIS][1] > 0) ? extruder_offset[X_AXIS][1] : X2_HOME_POS;
+}
+
+static int x_home_dir(int extruder) {
+  return (extruder == 0) ? X_HOME_DIR : X2_HOME_DIR;
+}
+
+static float inactive_x_carriage_pos = X2_MAX_POS;
+#endif     
+
 static void axis_is_at_home(int axis) {
+#ifdef DUAL_X_CARRIAGE
+  if (axis == X_AXIS && active_extruder != 0) {
+    current_position[X_AXIS] = x_home_pos(active_extruder);
+    min_pos[X_AXIS] =          X2_MIN_POS;
+    max_pos[X_AXIS] =          max(extruder_offset[X_AXIS][1], X2_MAX_POS);
+    return;
+  }
+#endif  
   current_position[axis] = base_home_pos(axis) + add_homeing[axis];
   min_pos[axis] =          base_min_pos(axis) + add_homeing[axis];
   max_pos[axis] =          base_max_pos(axis) + add_homeing[axis];
 static void homeaxis(int axis) {
 #define HOMEAXIS_DO(LETTER) \
   ((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))
+
   if (axis==X_AXIS ? HOMEAXIS_DO(X) :
       axis==Y_AXIS ? HOMEAXIS_DO(Y) :
       axis==Z_AXIS ? HOMEAXIS_DO(Z) :
       0) {
+    int axis_home_dir = home_dir(axis);
+#ifdef DUAL_X_CARRIAGE
+    if (axis == X_AXIS)
+      axis_home_dir = x_home_dir(active_extruder);
+#endif
 
     // Engage Servo endstop if enabled
     #ifdef SERVO_ENDSTOPS
       
     current_position[axis] = 0;
     plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
-    destination[axis] = 1.5 * max_length(axis) * home_dir(axis);
+    destination[axis] = 1.5 * max_length(axis) * axis_home_dir;
     feedrate = homing_feedrate[axis];
     plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
     st_synchronize();
 
     current_position[axis] = 0;
     plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
-    destination[axis] = -home_retract_mm(axis) * home_dir(axis);
+    destination[axis] = -home_retract_mm(axis) * axis_home_dir;
     plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
     st_synchronize();
 
-    destination[axis] = 2*home_retract_mm(axis) * home_dir(axis);
+    destination[axis] = 2*home_retract_mm(axis) * axis_home_dir;
 #ifdef DELTA
     feedrate = homing_feedrate[axis]/10;
 #else
 
 #else // NOT DELTA
 
-          home_all_axis = !((code_seen(axis_codes[0])) || (code_seen(axis_codes[1])) || (code_seen(axis_codes[2])));
+      home_all_axis = !((code_seen(axis_codes[0])) || (code_seen(axis_codes[1])) || (code_seen(axis_codes[2])));
 
       #if Z_HOME_DIR > 0                      // If homing away from BED do Z first
       if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
       {
         current_position[X_AXIS] = 0;current_position[Y_AXIS] = 0;
 
+       #ifndef DUAL_X_CARRIAGE
+        int x_axis_home_dir = home_dir(X_AXIS);
+       #else
+        int x_axis_home_dir = x_home_dir(active_extruder);
+       #endif
+        
         plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
-        destination[X_AXIS] = 1.5 * X_MAX_LENGTH * X_HOME_DIR;destination[Y_AXIS] = 1.5 * Y_MAX_LENGTH * Y_HOME_DIR;
+        destination[X_AXIS] = 1.5 * max_length(X_AXIS) * x_axis_home_dir;destination[Y_AXIS] = 1.5 * max_length(Y_AXIS) * home_dir(Y_AXIS);
         feedrate = homing_feedrate[X_AXIS];
         if(homing_feedrate[Y_AXIS]<feedrate)
           feedrate =homing_feedrate[Y_AXIS];
 
       if((home_all_axis) || (code_seen(axis_codes[X_AXIS])))
       {
+      #ifdef DUAL_X_CARRIAGE
+        int tmp_extruder = active_extruder;
+        active_extruder = !active_extruder;
+        HOMEAXIS(X);
+        inactive_x_carriage_pos = current_position[X_AXIS];
+        active_extruder = tmp_extruder;
+      #endif         
         HOMEAXIS(X);
       }
 
         }
       }
       plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
-#endif // DELTA
+#endif // else DELTA
           
       #ifdef ENDSTOPS_ONLY_FOR_HOMING
         enable_endstops(false);
     #endif
 
     #if defined(PS_ON_PIN) && PS_ON_PIN > -1
-      case 80: // M80 - ATX Power On
+      case 80: // M80 - Turn on Power Supply
         SET_OUTPUT(PS_ON_PIN); //GND
         WRITE(PS_ON_PIN, PS_ON_AWAKE);
+        #ifdef ULTIPANEL
+          powersupply = true;
+          LCD_MESSAGEPGM(WELCOME_MSG);
+          lcd_update();
+        #endif
         break;
       #endif
-
-      case 81: // M81 - ATX Power Off
-
+      
+      case 81: // M81 - Turn off Power Supply
+        disable_heater();
+        st_synchronize();
+        disable_e0();
+        disable_e1();
+        disable_e2();
+        finishAndDisableSteppers();
+        fanSpeed = 0;
+        delay(1000); // Wait a little before to switch off
       #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
         st_synchronize();
         suicide();
         SET_OUTPUT(PS_ON_PIN);
         WRITE(PS_ON_PIN, PS_ON_ASLEEP);
       #endif
-        break;
+      #ifdef ULTIPANEL
+        powersupply = false;
+        LCD_MESSAGEPGM(MACHINE_NAME" "MSG_OFF".");
+        lcd_update();
+      #endif
+	  break;
 
     case 82:
       axis_relative_modes[3] = false;
       if(tmp_extruder != active_extruder) {
         // Save current position to return to after applying extruder offset
         memcpy(destination, current_position, sizeof(destination));
+      #ifdef DUAL_X_CARRIAGE
+        // only apply Y extruder offset in dual x carriage mode (x offset is already used in determining home pos)
+        current_position[Y_AXIS] = current_position[Y_AXIS] -
+                     extruder_offset[Y_AXIS][active_extruder] +
+                     extruder_offset[Y_AXIS][tmp_extruder];
+
+        float tmp_x_pos = current_position[X_AXIS];
+
+        // Set the new active extruder and position
+        active_extruder = tmp_extruder;
+        axis_is_at_home(X_AXIS); //this function updates X min/max values.
+        current_position[X_AXIS] = inactive_x_carriage_pos;
+        inactive_x_carriage_pos = tmp_x_pos;      
+      #else    
         // Offset extruder (only by XY)
         int i;
         for(i = 0; i < 2; i++) {
         }
         // Set the new active extruder and position
         active_extruder = tmp_extruder;
+      #endif //else DUAL_X_CARRIAGE
         plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
         // Move to the old position if 'F' was in the parameters
         if(make_move && Stopped == false) {
        || !READ(E2_ENABLE_PIN)
     #endif
     #if EXTRUDER > 1
+      #if defined(X2_ENABLE_PIN) && X2_ENABLE_PIN > -1
+       || !READ(X2_ENABLE_PIN)
+      #endif
        || !READ(E1_ENABLE_PIN)
     #endif
        || !READ(E0_ENABLE_PIN)) //If any of the drivers are enabled...

Marlin/pins.h

 * Arduino Mega pin assignment
 *
 ****************************************************************************************/
-#if MOTHERBOARD == 3 || MOTHERBOARD == 33 || MOTHERBOARD == 34 || MOTHERBOARD == 77
+#if MOTHERBOARD == 3 || MOTHERBOARD == 33 || MOTHERBOARD == 34 || MOTHERBOARD == 35 || MOTHERBOARD == 77
 #define KNOWN_BOARD 1
 
 //////////////////FIX THIS//////////////
 // #define RAMPS_V_1_0
 
 
-#if MOTHERBOARD == 33 || MOTHERBOARD == 34 || MOTHERBOARD == 77
+#if MOTHERBOARD == 33 || MOTHERBOARD == 34 || MOTHERBOARD == 35 || MOTHERBOARD == 77
 
   #define LARGE_FLASH true
   
     #define LED_PIN            13
   #endif
 
-  #if MOTHERBOARD == 33
+  #if MOTHERBOARD == 33 || MOTHERBOARD == 35
     #define FAN_PIN            9 // (Sprinter config)
   #else
     #define FAN_PIN            4 // IO pin. Buffer needed
   #if MOTHERBOARD == 77
     #define FAN_PIN            8 
   #endif
+  
+  #if MOTHERBOARD == 35
+    #define CONTROLLERFAN_PIN  10 //Pin used for the fan to cool controller
+  #endif
 
   #define PS_ON_PIN          12
 
     #define KILL_PIN           -1
   #endif
 
-  #define HEATER_0_PIN       10   // EXTRUDER 1
+  #if MOTHERBOARD == 35
+    #define HEATER_0_PIN       8
+  #else
+    #define HEATER_0_PIN       10   // EXTRUDER 1
+  #endif
+
   #if MOTHERBOARD == 33 
     #define HEATER_1_PIN       -1
   #else
     #define HEATER_1_PIN       9    // EXTRUDER 2 (FAN On Sprinter)
   #endif
+
   #define HEATER_2_PIN       -1 
 
   #if MOTHERBOARD == 77
   #define TEMP_0_PIN         13   // ANALOG NUMBERING
   #define TEMP_1_PIN         15   // ANALOG NUMBERING
   #define TEMP_2_PIN         -1   // ANALOG NUMBERING
-  #if MOTHERBOARD == 77
-    #define HEATER_BED_PIN     9    // BED
+
+  #if MOTHERBOARD == 35
+    #define HEATER_BED_PIN     -1    // NO BED
   #else
-    #define HEATER_BED_PIN     8    // BED
+    #if MOTHERBOARD == 77
+      #define HEATER_BED_PIN     9    // BED
+    #else
+      #define HEATER_BED_PIN     8    // BED
+    #endif
   #endif
   #define TEMP_BED_PIN       14   // ANALOG NUMBERING
 
 #define TEMP_2_PIN          -1   
 #define TEMP_BED_PIN        1    // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!!
 
-#endif // MOTHERBOARD == 33 || MOTHERBOARD == 34 || MOTHERBOARD == 77
+#endif // MOTHERBOARD == 33 || MOTHERBOARD == 34 || MOTHERBOARD == 35 || MOTHERBOARD == 77
 
 // SPI for Max6675 Thermocouple 
 
   #define MAX6675_SS       49
 #endif
 
-#endif //MOTHERBOARD == 3 || MOTHERBOARD == 33 || MOTHERBOARD == 34 || MOTHERBOARD == 77
-
-
+#endif //MOTHERBOARD == 3 || MOTHERBOARD == 33 || MOTHERBOARD == 34 || MOTHERBOARD == 35 || MOTHERBOARD == 77
 
 /****************************************************************************************
 * Duemilanove w/ ATMega328P pin assignment

Marlin/stepper.cpp

 
     // Set the direction bits (X_AXIS=A_AXIS and Y_AXIS=B_AXIS for COREXY)
     if((out_bits & (1<<X_AXIS))!=0){
-      WRITE(X_DIR_PIN, INVERT_X_DIR);
+      #ifdef DUAL_X_CARRIAGE
+      if (active_extruder != 0)
+        WRITE(X2_DIR_PIN,INVERT_X_DIR);
+      else
+      #endif        
+        WRITE(X_DIR_PIN, INVERT_X_DIR);
       count_direction[X_AXIS]=-1;
     }
     else{
-      WRITE(X_DIR_PIN, !INVERT_X_DIR);
+      #ifdef DUAL_X_CARRIAGE
+      if (active_extruder != 0)
+        WRITE(X2_DIR_PIN,!INVERT_X_DIR);
+      else
+      #endif        
+        WRITE(X_DIR_PIN, !INVERT_X_DIR);
       count_direction[X_AXIS]=1;
     }
     if((out_bits & (1<<Y_AXIS))!=0){
     #endif
       CHECK_ENDSTOPS
       {
-        #if defined(X_MIN_PIN) && X_MIN_PIN > -1
-          bool x_min_endstop=(READ(X_MIN_PIN) != X_ENDSTOPS_INVERTING);
-          if(x_min_endstop && old_x_min_endstop && (current_block->steps_x > 0)) {
-            endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
-            endstop_x_hit=true;
-            step_events_completed = current_block->step_event_count;
-          }
-          old_x_min_endstop = x_min_endstop;
-        #endif
+        #ifdef DUAL_X_CARRIAGE
+        // with 2 x-carriages, endstops are only checked in the homing direction for the active extruder
+        if ((active_extruder == 0 && X_HOME_DIR == -1) || (active_extruder != 0 && X2_HOME_DIR == -1))
+        #endif          
+        {
+          #if defined(X_MIN_PIN) && X_MIN_PIN > -1
+            bool x_min_endstop=(READ(X_MIN_PIN) != X_ENDSTOPS_INVERTING);
+            if(x_min_endstop && old_x_min_endstop && (current_block->steps_x > 0)) {
+              endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
+              endstop_x_hit=true;
+              step_events_completed = current_block->step_event_count;
+            }
+            old_x_min_endstop = x_min_endstop;
+          #endif
+        }
       }
     }
     else { // +direction
       CHECK_ENDSTOPS 
       {
-        #if defined(X_MAX_PIN) && X_MAX_PIN > -1
-          bool x_max_endstop=(READ(X_MAX_PIN) != X_ENDSTOPS_INVERTING);
-          if(x_max_endstop && old_x_max_endstop && (current_block->steps_x > 0)){
-            endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
-            endstop_x_hit=true;
-            step_events_completed = current_block->step_event_count;
-          }
-          old_x_max_endstop = x_max_endstop;
-        #endif
+        #ifdef DUAL_X_CARRIAGE
+        // with 2 x-carriages, endstops are only checked in the homing direction for the active extruder
+        if ((active_extruder == 0 && X_HOME_DIR == 1) || (active_extruder != 0 && X2_HOME_DIR == 1))
+        #endif          
+        {
+          #if defined(X_MAX_PIN) && X_MAX_PIN > -1
+            bool x_max_endstop=(READ(X_MAX_PIN) != X_ENDSTOPS_INVERTING);
+            if(x_max_endstop && old_x_max_endstop && (current_block->steps_x > 0)){
+              endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
+              endstop_x_hit=true;
+              step_events_completed = current_block->step_event_count;
+            }
+            old_x_max_endstop = x_max_endstop;
+          #endif
+        }  
       }
     }
 
 
         counter_x += current_block->steps_x;
         if (counter_x > 0) {
-          WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN);
+          #ifdef DUAL_X_CARRIAGE
+          if (active_extruder != 0)
+            WRITE(X2_STEP_PIN,!INVERT_X_STEP_PIN);
+          else
+          #endif        
+            WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN);
           counter_x -= current_block->step_event_count;
           count_position[X_AXIS]+=count_direction[X_AXIS];   
-          WRITE(X_STEP_PIN, INVERT_X_STEP_PIN);
+          #ifdef DUAL_X_CARRIAGE
+          if (active_extruder != 0)
+            WRITE(X2_STEP_PIN,INVERT_X_STEP_PIN);
+          else
+          #endif        
+            WRITE(X_STEP_PIN, INVERT_X_STEP_PIN);
         }
   
         counter_y += current_block->steps_y;
   #if defined(X_DIR_PIN) && X_DIR_PIN > -1
     SET_OUTPUT(X_DIR_PIN);
   #endif
+  #if defined(X2_DIR_PIN) && X2_DIR_PIN > -1
+    SET_OUTPUT(X2_DIR_PIN);
+  #endif
   #if defined(Y_DIR_PIN) && Y_DIR_PIN > -1 
     SET_OUTPUT(Y_DIR_PIN);
   #endif
     SET_OUTPUT(X_ENABLE_PIN);
     if(!X_ENABLE_ON) WRITE(X_ENABLE_PIN,HIGH);
   #endif
+  #if defined(X2_ENABLE_PIN) && X2_ENABLE_PIN > -1
+    SET_OUTPUT(X2_ENABLE_PIN);
+    if(!X_ENABLE_ON) WRITE(X2_ENABLE_PIN,HIGH);
+  #endif
   #if defined(Y_ENABLE_PIN) && Y_ENABLE_PIN > -1
     SET_OUTPUT(Y_ENABLE_PIN);
     if(!Y_ENABLE_ON) WRITE(Y_ENABLE_PIN,HIGH);
     WRITE(X_STEP_PIN,INVERT_X_STEP_PIN);
     disable_x();
   #endif  
+  #if defined(X2_STEP_PIN) && (X2_STEP_PIN > -1) 
+    SET_OUTPUT(X2_STEP_PIN);
+    WRITE(X2_STEP_PIN,INVERT_X_STEP_PIN);
+    disable_x();
+  #endif  
   #if defined(Y_STEP_PIN) && (Y_STEP_PIN > -1) 
     SET_OUTPUT(Y_STEP_PIN);
     WRITE(Y_STEP_PIN,INVERT_Y_STEP_PIN);

Marlin/ultralcd.cpp

 /* Different menus */
 static void lcd_status_screen();
 #ifdef ULTIPANEL
+extern bool powersupply;
 static void lcd_main_menu();
 static void lcd_tune_menu();
 static void lcd_prepare_menu();
     MENU_ITEM(function, MSG_PREHEAT_PLA, lcd_preheat_pla);
     MENU_ITEM(function, MSG_PREHEAT_ABS, lcd_preheat_abs);
     MENU_ITEM(function, MSG_COOLDOWN, lcd_cooldown);
+#if PS_ON_PIN > -1
+    if (powersupply)
+    {
+        MENU_ITEM(gcode, MSG_SWITCH_PS_OFF, PSTR("M81"));
+    }else{
+        MENU_ITEM(gcode, MSG_SWITCH_PS_ON, PSTR("M80"));
+    }
+#endif
     MENU_ITEM(submenu, MSG_MOVE_AXIS, lcd_move_menu);
     END_MENU();
 }

README.md

 *   Heater power reporting. Useful for PID monitoring.
 *   PID tuning
 *   CoreXY kinematics (www.corexy.com/theory.html)
+*   Delta kinematics
+*   Dual X-carriage support for multiple extruder systems
 *   Configurable serial port to support connection of wireless adaptors.
 *   Automatic operation of extruder/cold-end cooling fans based on nozzle temperature
 *   RC Servo Support, specify angle or duration for continuous rotation servos.