diff options
Diffstat (limited to 'klippy/cartesian.py')
| -rw-r--r-- | klippy/cartesian.py | 13 |
1 files changed, 8 insertions, 5 deletions
diff --git a/klippy/cartesian.py b/klippy/cartesian.py index ee27f7b3..10c5b5f2 100644 --- a/klippy/cartesian.py +++ b/klippy/cartesian.py @@ -9,20 +9,23 @@ import stepper, homing StepList = (0, 1, 2) class CartKinematics: - def __init__(self, printer, config): + def __init__(self, toolhead, printer, config): self.steppers = [stepper.PrinterHomingStepper( printer, config.getsection('stepper_' + n), n) for n in ['x', 'y', 'z']] + max_velocity, max_accel = toolhead.get_max_velocity() self.max_z_velocity = config.getfloat( - 'max_z_velocity', 9999999.9, above=0.) + 'max_z_velocity', max_velocity, above=0., maxval=max_velocity) self.max_z_accel = config.getfloat( - 'max_z_accel', 9999999.9, above=0.) + 'max_z_accel', max_accel, above=0., maxval=max_accel) self.need_motor_enable = True self.limits = [(1.0, -1.0)] * 3 - def set_max_jerk(self, max_xy_halt_velocity, max_velocity, max_accel): + # Setup stepper max halt velocity + max_xy_halt_velocity = toolhead.get_max_axis_halt(max_accel) self.steppers[0].set_max_jerk(max_xy_halt_velocity, max_accel) self.steppers[1].set_max_jerk(max_xy_halt_velocity, max_accel) - self.steppers[2].set_max_jerk(0., self.max_z_accel) + max_z_halt_velocity = toolhead.get_max_axis_halt(self.max_z_accel) + self.steppers[2].set_max_jerk(max_z_halt_velocity, self.max_z_accel) def set_position(self, newpos): for i in StepList: self.steppers[i].mcu_stepper.set_position(newpos[i]) |