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| author | Kevin O'Connor <kevin@koconnor.net> | 2017-04-04 19:20:54 -0400 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2017-04-07 13:44:17 -0400 |
| commit | e4153a536fe10671abc248d9e34347fbaccb2ec3 (patch) | |
| tree | 7893e6ea92127e6a4ed07ac21a6f6c708bcec3ba /klippy/delta.py | |
| parent | 79f31238b047eeacc2321625e642421a86c62e68 (diff) | |
| download | kutter-e4153a536fe10671abc248d9e34347fbaccb2ec3.tar.gz kutter-e4153a536fe10671abc248d9e34347fbaccb2ec3.tar.xz kutter-e4153a536fe10671abc248d9e34347fbaccb2ec3.zip | |
mcu: Change mcu_stepper.set_position() to take a location in millimeters
Update the set_position() method to convert from millimeters to
absolute step position.
Also, update PrinterStepper.get_homed_offset() and
mcu_stepper.get_commanded_position() to return millimeters.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Diffstat (limited to 'klippy/delta.py')
| -rw-r--r-- | klippy/delta.py | 10 |
1 files changed, 4 insertions, 6 deletions
diff --git a/klippy/delta.py b/klippy/delta.py index e54fe340..9ae72810 100644 --- a/klippy/delta.py +++ b/klippy/delta.py @@ -59,10 +59,9 @@ class DeltaKinematics: for stepper in self.steppers: stepper.set_max_jerk(max_xy_halt_velocity, max_accel) def _cartesian_to_actuator(self, coord): - return [int((math.sqrt(self.arm_length2 - - (self.towers[i][0] - coord[0])**2 - - (self.towers[i][1] - coord[1])**2) + coord[2]) - * self.steppers[i].inv_step_dist + 0.5) + return [math.sqrt(self.arm_length2 + - (self.towers[i][0] - coord[0])**2 + - (self.towers[i][1] - coord[1])**2) + coord[2] for i in StepList] def _actuator_to_cartesian(self, pos): # Based on code from Smoothieware @@ -118,8 +117,7 @@ class DeltaKinematics: homing_state.home(list(coord), homepos, self.steppers , s.homing_speed/2.0, second_home=True) # Set final homed position - coord = [(s.mcu_stepper.get_commanded_position() + s.get_homed_offset()) - * s.step_dist + coord = [s.mcu_stepper.get_commanded_position() + s.get_homed_offset() for s in self.steppers] homing_state.set_homed_position(self._actuator_to_cartesian(coord)) def motor_off(self, move_time): |