diff options
Diffstat (limited to 'klippy/cartesian.py')
| -rw-r--r-- | klippy/cartesian.py | 17 |
1 files changed, 17 insertions, 0 deletions
diff --git a/klippy/cartesian.py b/klippy/cartesian.py index 18a22382..de9d4fa4 100644 --- a/klippy/cartesian.py +++ b/klippy/cartesian.py @@ -13,6 +13,7 @@ class CartKinematics: steppers = ['stepper_x', 'stepper_y', 'stepper_z'] self.steppers = [stepper.PrinterStepper(printer, config.getsection(n)) for n in steppers] + self.limits = [(1.0, -1.0)] * 3 self.stepper_pos = [0, 0, 0] def build_config(self): for stepper in self.steppers[:2]: @@ -33,6 +34,7 @@ class CartKinematics: homing_state = homing.Homing(toolhead, axes) for axis in axes: s = self.steppers[axis] + self.limits[axis] = (s.position_min, s.position_max) # Determine moves if s.homing_positive_dir: pos = s.position_endstop - 1.5*( @@ -58,15 +60,30 @@ class CartKinematics: homing_state.plan_home(list(coord), homepos, [s], s.homing_speed/2.0) return homing_state def motor_off(self, move_time): + self.limits = [(1.0, -1.0)] * 3 for stepper in self.steppers: stepper.motor_enable(move_time, 0) def query_endstops(self, move_time): return homing.QueryEndstops(["x", "y", "z"], self.steppers) + def check_endstops(self, move): + 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])): + if self.limits[i][0] > self.limits[i][1]: + raise homing.EndstopError(move.pos, "Must home axis first") + raise homing.EndstopError(move.pos) def check_move(self, move): + limits = self.limits + xpos, ypos = move.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) if not move.axes_d[2]: # Normal XY move - use defaults return # Move with Z - update velocity and accel for slower Z axis + self.check_endstops(move) axes_d = move.axes_d move_d = move.move_d velocity_factor = min([self.steppers[i].max_velocity / abs(axes_d[i]) |