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| author | Chris Whiteford <github@chrisandtennille.com> | 2018-10-04 18:55:58 -0400 |
|---|---|---|
| committer | KevinOConnor <kevin@koconnor.net> | 2018-10-04 18:55:58 -0400 |
| commit | b0d859f220457f0a1c15b5be452620f19043ae16 (patch) | |
| tree | 83648d1225efc0651e7713d1143dc4f99161b4aa /klippy/kinematics/delta.py | |
| parent | 97927172f15c96dc941743f559575ca5ddcf55e1 (diff) | |
| download | kutter-b0d859f220457f0a1c15b5be452620f19043ae16.tar.gz kutter-b0d859f220457f0a1c15b5be452620f19043ae16.tar.xz kutter-b0d859f220457f0a1c15b5be452620f19043ae16.zip | |
stepper: Adding support for a second_homing_speed parameter (#677)
Signed-off-by: Chris Whiteford <chris@chrisandtennille.com>
Diffstat (limited to 'klippy/kinematics/delta.py')
| -rw-r--r-- | klippy/kinematics/delta.py | 5 |
1 files changed, 3 insertions, 2 deletions
diff --git a/klippy/kinematics/delta.py b/klippy/kinematics/delta.py index 84f8db78..9a357049 100644 --- a/klippy/kinematics/delta.py +++ b/klippy/kinematics/delta.py @@ -101,17 +101,18 @@ class DeltaKinematics: # Initial homing - assume homing speed same for all steppers hi = self.rails[0].get_homing_info() homing_speed = min(hi.speed, self.max_z_velocity) + second_homing_speed = min(hi.second_homing_speed, self.max_z_velocity) homepos = [0., 0., self.max_z, None] coord = list(homepos) coord[2] = -1.5 * math.sqrt(max(self.arm2)-self.max_xy2) homing_state.home(coord, homepos, endstops, homing_speed) # Retract coord[2] = homepos[2] - hi.retract_dist - homing_state.retract(coord, homing_speed) + homing_state.retract(coord, second_homing_speed) # Home again coord[2] -= hi.retract_dist homing_state.home(coord, homepos, endstops, - homing_speed/2.0, second_home=True) + second_homing_speed, second_home=True) # Set final homed position spos = [ep + rail.get_homed_offset() for ep, rail in zip(self.abs_endstops, self.rails)] |