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| author | Kevin O'Connor <kevin@koconnor.net> | 2016-12-05 13:26:26 -0500 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2016-12-05 14:06:38 -0500 |
| commit | 5458f3cbd20678ad7db1005e3abf7d01e2099820 (patch) | |
| tree | 88168712bc4686f8a2c0b3c1f8b7775eeb029ab8 | |
| parent | 611e1d239b1c624565d37467e74bf1ca5ed20cdb (diff) | |
| download | kutter-5458f3cbd20678ad7db1005e3abf7d01e2099820.tar.gz kutter-5458f3cbd20678ad7db1005e3abf7d01e2099820.tar.xz kutter-5458f3cbd20678ad7db1005e3abf7d01e2099820.zip | |
delta: Make sure homing distance is large enough to hit the endstop
The head may be far away from an axis at the start of a home, and that
axis must then traverse more than just the distance from zero height
to the endstop position. Add in additional distance to account for
this.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
| -rw-r--r-- | klippy/delta.py | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/klippy/delta.py b/klippy/delta.py index ef7dbde7..19984496 100644 --- a/klippy/delta.py +++ b/klippy/delta.py @@ -91,7 +91,7 @@ class DeltaKinematics: # Initial homing homepos = [0., 0., s.position_endstop, None] coord = list(homepos) - coord[2] -= 1.5*(s.position_endstop) + coord[2] = -1.5 * math.sqrt(self.arm_length2-self.max_xy2) homing_state.plan_home(list(coord), homepos, self.steppers , s.homing_speed) # Retract |