diff options
| -rw-r--r-- | klippy/delta.py | 16 |
1 files changed, 8 insertions, 8 deletions
diff --git a/klippy/delta.py b/klippy/delta.py index 7d7b063f..e6ed326c 100644 --- a/klippy/delta.py +++ b/klippy/delta.py @@ -37,13 +37,13 @@ class DeltaKinematics: for stepper in self.steppers: stepper.build_config() self.set_position([0., 0., 0.]) - def cartesian_to_actuator(self, coord): + def _cartesian_to_actuator(self, coord): return [int((math.sqrt(self.arm_length2 - (self.towers[i][0] - coord[0])**2 - (self.towers[i][1] - coord[1])**2) + coord[2]) * self.steppers[i].inv_step_dist + 0.5) for i in StepList] - def actuator_to_cartesian(self, pos): + def _actuator_to_cartesian(self, pos): # Based on code from Smoothieware tower1 = list(self.towers[0]) + [pos[0]] tower2 = list(self.towers[1]) + [pos[1]] @@ -75,14 +75,14 @@ class DeltaKinematics: return matrix_sub(circumcenter, matrix_mul(normal, dist)) def set_position(self, newpos): - pos = self.cartesian_to_actuator(newpos) + pos = self._cartesian_to_actuator(newpos) for i in StepList: self.steppers[i].mcu_stepper.set_position(pos[i]) - def get_homed_position(self, homing_state): + def _get_homed_position(self, homing_state): pos = [(s.mcu_stepper.commanded_position + s.get_homed_offset()) * s.step_dist for s in self.steppers] - return self.actuator_to_cartesian(pos) + return self._actuator_to_cartesian(pos) def home(self, homing_state): # All axes are homed simultaneously homing_state.set_axes([0, 1, 2]) @@ -101,13 +101,13 @@ class DeltaKinematics: coord[2] -= s.homing_retract_dist homing_state.plan_second_home(list(coord), homepos, self.steppers , s.homing_speed/2.0) - homing_state.plan_calc_position(self.get_homed_position) + homing_state.plan_calc_position(self._get_homed_position) def motor_off(self, move_time): self.limit_xy2 = -1. for stepper in self.steppers: stepper.motor_enable(move_time, 0) self.need_motor_enable = True - def check_motor_enable(self, move_time): + def _check_motor_enable(self, move_time): for i in StepList: self.steppers[i].motor_enable(move_time, 1) self.need_motor_enable = False @@ -143,7 +143,7 @@ class DeltaKinematics: inv_movexy_d = 1. / movexy_d if self.need_motor_enable: - self.check_motor_enable(move_time) + self._check_motor_enable(move_time) origx, origy, origz = move.start_pos[:3] |