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| author | Kevin O'Connor <kevin@koconnor.net> | 2020-01-23 21:14:09 -0500 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2020-01-23 21:14:09 -0500 |
| commit | 2ea3631222019b1eda1eb451ac60188b36951baa (patch) | |
| tree | 0601e46d9fb7dad72566bab360d1f1561eba6f56 | |
| parent | 8ed0f7c5c37a3e2a3c38d19b19bbd6846453a6df (diff) | |
| download | kutter-2ea3631222019b1eda1eb451ac60188b36951baa.tar.gz kutter-2ea3631222019b1eda1eb451ac60188b36951baa.tar.xz kutter-2ea3631222019b1eda1eb451ac60188b36951baa.zip | |
delta: Add print_radius option to customize valid XY radius
Add ability to override the default XY move checking radius.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
| -rw-r--r-- | config/example-delta.cfg | 7 | ||||
| -rw-r--r-- | klippy/kinematics/delta.py | 3 |
2 files changed, 9 insertions, 1 deletions
diff --git a/config/example-delta.cfg b/config/example-delta.cfg index b6a25fdb..320a74af 100644 --- a/config/example-delta.cfg +++ b/config/example-delta.cfg @@ -107,6 +107,13 @@ delta_radius: 174.75 # axis towers. This parameter may also be calculated as: # delta_radius = smooth_rod_offset - effector_offset - carriage_offset # This parameter must be provided. +#print_radius: +# The radius (in mm) of valid toolhead XY coordinates. One may use +# this setting to customize the range checking of toolhead moves. If +# a large value is specified here then it may be possible to command +# the toolhead into a collision with a tower. The default is to use +# delta_radius for print_radius (which would normally prevent a +# tower collision). # The delta_calibrate section enables a DELTA_CALIBRATE extended # g-code command that can calibrate the tower endstop positions and diff --git a/klippy/kinematics/delta.py b/klippy/kinematics/delta.py index 057e9241..885ce940 100644 --- a/klippy/kinematics/delta.py +++ b/klippy/kinematics/delta.py @@ -36,6 +36,7 @@ class DeltaKinematics: rail.set_max_jerk(max_halt_velocity, max_halt_accel) # Read radius and arm lengths self.radius = radius = config.getfloat('delta_radius', above=0.) + print_radius = config.getfloat('print_radius', radius, above=0.) arm_length_a = stepper_configs[0].getfloat('arm_length', above=radius) self.arm_lengths = arm_lengths = [ sconfig.getfloat('arm_length', arm_length_a, above=radius) @@ -80,7 +81,7 @@ class DeltaKinematics: + half_min_step_dist) self.slow_xy2 = (ratio_to_dist(SLOW_RATIO) - radius)**2 self.very_slow_xy2 = (ratio_to_dist(2. * SLOW_RATIO) - radius)**2 - self.max_xy2 = min(radius, min_arm_length - radius, + self.max_xy2 = min(print_radius, min_arm_length - radius, ratio_to_dist(4. * SLOW_RATIO) - radius)**2 logging.info("Delta max build radius %.2fmm (moves slowed past %.2fmm" " and %.2fmm)" % ( |