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| author | Kevin O'Connor <kevin@koconnor.net> | 2018-09-26 10:21:05 -0400 |
|---|---|---|
| committer | KevinOConnor <kevin@koconnor.net> | 2018-10-01 11:12:30 -0400 |
| commit | ae4eb35a707fe588b77806bc77a2515b1d1a2d01 (patch) | |
| tree | b3f70683961bd21e600910889e2a5ffc5f4cc25b /klippy | |
| parent | c68c0c6526c0fc55af4a37080aaaa4cde916f218 (diff) | |
| download | kutter-ae4eb35a707fe588b77806bc77a2515b1d1a2d01.tar.gz kutter-ae4eb35a707fe588b77806bc77a2515b1d1a2d01.tar.xz kutter-ae4eb35a707fe588b77806bc77a2515b1d1a2d01.zip | |
delta_calibrate: Use kin.calc_position() in get_probed_position() callback
It's possible (and a little simpler) to use cartesian coordinates when
calculating a stable position.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Diffstat (limited to 'klippy')
| -rw-r--r-- | klippy/extras/delta_calibrate.py | 11 |
1 files changed, 2 insertions, 9 deletions
diff --git a/klippy/extras/delta_calibrate.py b/klippy/extras/delta_calibrate.py index 0db7436e..d079eac5 100644 --- a/klippy/extras/delta_calibrate.py +++ b/klippy/extras/delta_calibrate.py @@ -49,13 +49,6 @@ def get_position_from_stable(stable_position, delta_params): dp.stepdists, dp.towers, dp.abs_endstops, stable_position) ] return mathutil.trilateration(sphere_coords, [a**2 for a in dp.arms]) -# Return a stable position from the nominal delta tower positions -def get_stable_position(stepper_position, delta_params): - dp = delta_params - return [int((ep - sp) / sd + .5) - for sd, ep, sp in zip( - dp.stepdists, dp.abs_endstops, stepper_position)] - # Return a stable position from a cartesian coordinate def calc_stable_position(coord, delta_params): dp = delta_params @@ -201,13 +194,13 @@ class DeltaCalibrate: "%.3f,%.3f,%.3f" % tuple(spos2)) def get_probed_position(self): kin = self.printer.lookup_object('toolhead').get_kinematics() - return [s.get_commanded_position() for s in kin.get_steppers()] + return kin.calc_position() def finalize(self, offsets, positions): # Convert positions into (z_offset, stable_position) pairs z_offset = offsets[2] kin = self.printer.lookup_object('toolhead').get_kinematics() delta_params = build_delta_params(kin.get_calibrate_params()) - probe_positions = [(z_offset, get_stable_position(p, delta_params)) + probe_positions = [(z_offset, calc_stable_position(p, delta_params)) for p in positions] # Perform analysis self.calculate_params(probe_positions, self.last_distances) |