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| author | Kevin O'Connor <kevin@koconnor.net> | 2018-07-12 22:15:45 -0400 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2018-07-12 22:50:25 -0400 |
| commit | 8faab46ed2fc05495e63bbca8fe3dfa6828f7db3 (patch) | |
| tree | 313faa1a4357e24c57f7d5ea863edbf282a35742 /klippy/extras | |
| parent | 7d897d84d773654a8beaf56012e0bf8285db8206 (diff) | |
| download | kutter-8faab46ed2fc05495e63bbca8fe3dfa6828f7db3.tar.gz kutter-8faab46ed2fc05495e63bbca8fe3dfa6828f7db3.tar.xz kutter-8faab46ed2fc05495e63bbca8fe3dfa6828f7db3.zip | |
toolhead: Move kinematic modules to new kinematics/ directory
Move extruder.py, cartesian.py, corexy.py, and delta.py to a new
kinematics/ sub-directory. This is intended to make adding new
kinematics a little easier.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Diffstat (limited to 'klippy/extras')
| -rw-r--r-- | klippy/extras/delta_calibrate.py | 9 |
1 files changed, 5 insertions, 4 deletions
diff --git a/klippy/extras/delta_calibrate.py b/klippy/extras/delta_calibrate.py index 15b9001c..42104d29 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, delta, mathutil +import probe, mathutil, kinematics.delta class DeltaCalibrate: def __init__(self, config): @@ -40,10 +40,11 @@ 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 = delta.get_position_from_stable(spos, params) + x, y, z = get_position_from_stable(spos, params) total_error += (z - z_offset)**2 return total_error new_params = mathutil.coordinate_descent( @@ -51,8 +52,8 @@ class DeltaCalibrate: logging.info("Calculated delta_calibrate parameters: %s", new_params) for spos in positions: logging.info("orig: %s new: %s", - delta.get_position_from_stable(spos, params), - delta.get_position_from_stable(spos, new_params)) + get_position_from_stable(spos, params), + get_position_from_stable(spos, new_params)) self.gcode.respond_info( "stepper_a: position_endstop: %.6f angle: %.6f\n" "stepper_b: position_endstop: %.6f angle: %.6f\n" |