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| author | Kevin O'Connor <kevin@koconnor.net> | 2017-02-19 10:36:08 -0500 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2017-02-19 11:00:46 -0500 |
| commit | 29ba92a5514de0bb6ccdad6e95c8b54f3d8a5e92 (patch) | |
| tree | 86bba3a6b6dc303d38bac479d408d0d4ede1635b | |
| parent | 38e9484f9ffabd98962a00bb4403261f0c58b1ab (diff) | |
| download | kutter-29ba92a5514de0bb6ccdad6e95c8b54f3d8a5e92.tar.gz kutter-29ba92a5514de0bb6ccdad6e95c8b54f3d8a5e92.tar.xz kutter-29ba92a5514de0bb6ccdad6e95c8b54f3d8a5e92.zip | |
delta: Use position_endstop for position_max
There's no reason for the user to specify position_max - it can be
inferred on deltas from the endstop positions.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
| -rw-r--r-- | config/example-delta.cfg | 4 | ||||
| -rw-r--r-- | klippy/delta.py | 6 |
2 files changed, 4 insertions, 6 deletions
diff --git a/config/example-delta.cfg b/config/example-delta.cfg index 96ab91b3..1eb96b3c 100644 --- a/config/example-delta.cfg +++ b/config/example-delta.cfg @@ -9,8 +9,7 @@ # The stepper_a section describes the stepper controlling the front # left tower (at 210 degrees). This section also controls the homing -# parameters (homing_speed, homing_retract_dist) and maximum tower -# length (position_max) for all towers. +# parameters (homing_speed, homing_retract_dist) for all towers. [stepper_a] step_pin: ar54 dir_pin: ar55 @@ -19,7 +18,6 @@ step_distance: .01 endstop_pin: ^ar2 homing_speed: 50.0 position_endstop: 297.05 -position_max: 297.55 # The stepper_b section describes the stepper controlling the front # right tower (at 330 degrees) diff --git a/klippy/delta.py b/klippy/delta.py index 914783eb..d73e5b8f 100644 --- a/klippy/delta.py +++ b/klippy/delta.py @@ -25,7 +25,7 @@ class DeltaKinematics: self.max_xy2 = min(radius, arm_length - radius)**2 self.limit_xy2 = -1. tower_height_at_zeros = math.sqrt(self.arm_length2 - radius**2) - self.max_z = self.steppers[0].position_max + self.max_z = max([s.position_endstop for s in self.steppers]) self.limit_z = self.max_z - (arm_length - tower_height_at_zeros) logging.info( "Delta max build height %.2fmm (radius tapered above %.2fmm)" % ( @@ -101,10 +101,10 @@ class DeltaKinematics: def home(self, homing_state): # All axes are homed simultaneously homing_state.set_axes([0, 1, 2]) - s = self.steppers[0] # Assume homing parameters same for all steppers + s = self.steppers[0] # Assume homing speed same for all steppers self.need_home = False # Initial homing - homepos = [0., 0., s.position_endstop, None] + homepos = [0., 0., self.max_z, None] coord = list(homepos) coord[2] = -1.5 * math.sqrt(self.arm_length2-self.max_xy2) homing_state.home(list(coord), homepos, self.steppers, s.homing_speed) |