diff options
Diffstat (limited to 'klippy/cartesian.py')
| -rw-r--r-- | klippy/cartesian.py | 14 |
1 files changed, 8 insertions, 6 deletions
diff --git a/klippy/cartesian.py b/klippy/cartesian.py index 860ce9fd..60fe9976 100644 --- a/klippy/cartesian.py +++ b/klippy/cartesian.py @@ -67,16 +67,17 @@ class CartKinematics: def query_endstops(self, move_time): return homing.QueryEndstops(["x", "y", "z"], self.steppers) def check_endstops(self, move): + end_pos = move.end_pos for i in StepList: if (move.axes_d[i] - and (move.pos[i] < self.limits[i][0] - or move.pos[i] > self.limits[i][1])): + and (end_pos[i] < self.limits[i][0] + or end_pos[i] > self.limits[i][1])): if self.limits[i][0] > self.limits[i][1]: - raise homing.EndstopError(move.pos, "Must home axis first") - raise homing.EndstopError(move.pos) + raise homing.EndstopError(end_pos, "Must home axis first") + raise homing.EndstopError(end_pos) def check_move(self, move): limits = self.limits - xpos, ypos = move.pos[:2] + xpos, ypos = move.end_pos[:2] if (xpos < limits[0][0] or xpos > limits[0][1] or ypos < limits[1][0] or ypos > limits[1][1]): self.check_endstops(move) @@ -96,7 +97,8 @@ class CartKinematics: inv_accel = 1. / move.accel inv_cruise_v = 1. / move.cruise_v for i in StepList: - new_step_pos = int(move.pos[i]*self.steppers[i].inv_step_dist + 0.5) + new_step_pos = int( + move.end_pos[i]*self.steppers[i].inv_step_dist + 0.5) steps = new_step_pos - self.stepper_pos[i] if not steps: continue |