delta: Minor change to get_position_from_stable()

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

1 files changed, 6 insertions, 8 deletions

diff --git a/klippy/extras/delta_calibrate.py b/klippy/extras/delta_calibrate.py
index 42104d29..f8f87d9e 100644
--- a/klippy/extras/delta_calibrate.py
+++ b/klippy/extras/delta_calibrate.py
@@ -4,7 +4,7 @@
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
 import math, logging
-import probe, mathutil, kinematics.delta
+import probe, mathutil
 
 class DeltaCalibrate:
     def __init__(self, config):
@@ -40,20 +40,18 @@ class DeltaCalibrate:
         logging.info("Initial delta_calibrate parameters: %s", params)
         adj_params = ('endstop_a', 'endstop_b', 'endstop_c', 'radius',
                       'angle_a', 'angle_b')
-        get_position_from_stable = kinematics.delta.get_position_from_stable
         def delta_errorfunc(params):
             total_error = 0.
-            for spos in positions:
-                x, y, z = get_position_from_stable(spos, params)
+            for x, y, z in kin.get_positions_from_stable(positions, params):
                 total_error += (z - z_offset)**2
             return total_error
         new_params = mathutil.coordinate_descent(
             adj_params, params, delta_errorfunc)
         logging.info("Calculated delta_calibrate parameters: %s", new_params)
-        for spos in positions:
-            logging.info("orig: %s new: %s",
-                         get_position_from_stable(spos, params),
-                         get_position_from_stable(spos, new_params))
+        old_positions = kin.get_positions_from_stable(positions, params)
+        new_positions = kin.get_positions_from_stable(positions, new_params)
+        for oldpos, newpos in zip(old_positions, new_positions):
+            logging.info("orig: %s new: %s", oldpos, newpos)
         self.gcode.respond_info(
             "stepper_a: position_endstop: %.6f angle: %.6f\n"
             "stepper_b: position_endstop: %.6f angle: %.6f\n"