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| author | Kevin O'Connor <kevin@koconnor.net> | 2016-09-15 12:20:49 -0400 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2016-11-14 12:35:36 -0500 |
| commit | 941427554a23dd0ae963eb9df7d2724c7c90809b (patch) | |
| tree | da98961e87b008d7cda3e1e5a4b8d37806f3ea5e /klippy/toolhead.py | |
| parent | 7554c7f69423bf3d22f340a8b4851c25de855983 (diff) | |
| download | kutter-941427554a23dd0ae963eb9df7d2724c7c90809b.tar.gz kutter-941427554a23dd0ae963eb9df7d2724c7c90809b.tar.xz kutter-941427554a23dd0ae963eb9df7d2724c7c90809b.zip | |
delta: Initial support for linear delta kinematics
This adds support for delta based robots.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Diffstat (limited to 'klippy/toolhead.py')
| -rw-r--r-- | klippy/toolhead.py | 7 |
1 files changed, 5 insertions, 2 deletions
diff --git a/klippy/toolhead.py b/klippy/toolhead.py index d57a22e5..91843805 100644 --- a/klippy/toolhead.py +++ b/klippy/toolhead.py @@ -4,7 +4,7 @@ # # This file may be distributed under the terms of the GNU GPLv3 license. import math, logging, time -import cartesian +import cartesian, delta EXTRUDE_DIFF_IGNORE = 1.02 @@ -159,7 +159,10 @@ class ToolHead: self.printer = printer self.reactor = printer.reactor self.extruder = printer.objects.get('extruder') - self.kin = cartesian.CartKinematics(printer, config) + kintypes = {'cartesian': cartesian.CartKinematics, + 'delta': delta.DeltaKinematics} + kin = config.get('kinematics', 'cartesian') + self.kin = kintypes[kin](printer, config) self.max_speed, self.max_accel = self.kin.get_max_speed() self.junction_deviation = config.getfloat('junction_deviation', 0.02) self.move_queue = MoveQueue() |