diff options
Diffstat (limited to 'klippy/delta.py')
| -rw-r--r-- | klippy/delta.py | 7 |
1 files changed, 4 insertions, 3 deletions
diff --git a/klippy/delta.py b/klippy/delta.py index 7a294833..dd4edb46 100644 --- a/klippy/delta.py +++ b/klippy/delta.py @@ -71,7 +71,7 @@ class DeltaKinematics: "Delta max build radius %.2fmm (moves slowed past %.2fmm and %.2fmm)" % (math.sqrt(self.max_xy2), math.sqrt(self.slow_xy2), math.sqrt(self.very_slow_xy2))) - self.set_position([0., 0., 0.]) + self.set_position([0., 0., 0.], ()) def get_steppers(self, flags=""): return list(self.steppers) def _cartesian_to_actuator(self, coord): @@ -83,17 +83,18 @@ class DeltaKinematics: def get_position(self): spos = [s.mcu_stepper.get_commanded_position() for s in self.steppers] return self._actuator_to_cartesian(spos) - def set_position(self, newpos): + def set_position(self, newpos, homing_axes): pos = self._cartesian_to_actuator(newpos) for i in StepList: self.steppers[i].set_position(pos[i]) self.limit_xy2 = -1. + if tuple(homing_axes) == StepList: + self.need_home = False def home(self, homing_state): # All axes are homed simultaneously homing_state.set_axes([0, 1, 2]) endstops = [es for s in self.steppers for es in s.get_endstops()] s = self.steppers[0] # Assume homing speed same for all steppers - self.need_home = False # Initial homing homing_speed = min(s.homing_speed, self.max_z_velocity) homepos = [0., 0., self.max_z, None] |