Dual x carriage printing timelapse (IDEX)

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A short timelapse of my 3d printer. Printing green flexible TPU and PLA support.
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Could you mind sharing details like design and especially firmware?

MrSelimayaz
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i also have an idex.And i use ramps1.4,but now i extrusion two axis to use IDEX and use dual z also dual Z endstops, but the firmware can't compiling, could you help?

chunjiezeng