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| author | Kevin O'Connor <kevin@koconnor.net> | 2017-12-06 01:00:33 -0500 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2018-01-28 12:19:26 -0500 |
| commit | ce9db609ad6f0f99c171b643464fe1e6963ec6c6 (patch) | |
| tree | 5cc4ea8158c441b451e12619fc6d08a46a97bc86 /klippy/delta.py | |
| parent | 6c252d30f5530982db0986b79f8eb1895f7d48f0 (diff) | |
| download | kutter-ce9db609ad6f0f99c171b643464fe1e6963ec6c6.tar.gz kutter-ce9db609ad6f0f99c171b643464fe1e6963ec6c6.tar.xz kutter-ce9db609ad6f0f99c171b643464fe1e6963ec6c6.zip | |
probe: Initial support for Z-Probe hardware
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Diffstat (limited to 'klippy/delta.py')
| -rw-r--r-- | klippy/delta.py | 5 |
1 files changed, 4 insertions, 1 deletions
diff --git a/klippy/delta.py b/klippy/delta.py index 5014fe01..6d2490e5 100644 --- a/klippy/delta.py +++ b/klippy/delta.py @@ -70,7 +70,7 @@ class DeltaKinematics: % (math.sqrt(self.max_xy2), math.sqrt(self.slow_xy2), math.sqrt(self.very_slow_xy2))) self.set_position([0., 0., 0.]) - def get_steppers(self): + def get_steppers(self, flags=""): return list(self.steppers) def _cartesian_to_actuator(self, coord): return [math.sqrt(self.arm2[i] - (self.towers[i][0] - coord[0])**2 @@ -101,6 +101,9 @@ class DeltaKinematics: ey_y = matrix_mul(ey, y) ez_z = matrix_mul(ez, z) return matrix_add(carriage1, matrix_add(ex_x, matrix_add(ey_y, ez_z))) + def get_position(self): + spos = [s.mcu_stepper.get_commanded_position() for s in self.steppers] + return self._actuator_to_cartesian(spos) def set_position(self, newpos): pos = self._cartesian_to_actuator(newpos) for i in StepList: |