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| author | Kevin O'Connor <kevin@koconnor.net> | 2017-12-22 21:44:56 -0500 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2018-01-28 12:19:26 -0500 |
| commit | 6c252d30f5530982db0986b79f8eb1895f7d48f0 (patch) | |
| tree | ccabed54af00dc1409caeb65b9190c5672501ce1 /klippy/delta.py | |
| parent | 978777f09fa494db1b50fba58ea4e57d9b8479ac (diff) | |
| download | kutter-6c252d30f5530982db0986b79f8eb1895f7d48f0.tar.gz kutter-6c252d30f5530982db0986b79f8eb1895f7d48f0.tar.xz kutter-6c252d30f5530982db0986b79f8eb1895f7d48f0.zip | |
delta: Allow the user to specify a minimum z position
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Diffstat (limited to 'klippy/delta.py')
| -rw-r--r-- | klippy/delta.py | 3 |
1 files changed, 2 insertions, 1 deletions
diff --git a/klippy/delta.py b/klippy/delta.py index c0e5ef28..5014fe01 100644 --- a/klippy/delta.py +++ b/klippy/delta.py @@ -33,6 +33,7 @@ class DeltaKinematics: for s, arm2 in zip(self.steppers, self.arm2)] self.limit_xy2 = -1. self.max_z = min([s.position_endstop for s in self.steppers]) + self.min_z = config.getfloat('minimum_z_position', 0, maxval=self.max_z) self.limit_z = min([ep - arm for ep, arm in zip(self.endstops, arm_lengths)]) logging.info( @@ -148,7 +149,7 @@ class DeltaKinematics: limit_xy2 = self.max_xy2 if end_pos[2] > self.limit_z: limit_xy2 = min(limit_xy2, (self.max_z - end_pos[2])**2) - if xy2 > limit_xy2 or end_pos[2] < 0. or end_pos[2] > self.max_z: + if xy2 > limit_xy2 or end_pos[2] < self.min_z or end_pos[2] > self.max_z: raise homing.EndstopMoveError(end_pos) if move.axes_d[2]: move.limit_speed(self.max_z_velocity, move.accel) |