diff options
Diffstat (limited to 'klippy/delta.py')
| -rw-r--r-- | klippy/delta.py | 13 |
1 files changed, 7 insertions, 6 deletions
diff --git a/klippy/delta.py b/klippy/delta.py index 62074d7a..370b11e6 100644 --- a/klippy/delta.py +++ b/klippy/delta.py @@ -29,12 +29,13 @@ class DeltaKinematics: logging.info( "Delta max build height %.2fmm (radius tapered above %.2fmm)" % ( self.max_z, self.limit_z)) - sin = lambda angle: math.sin(math.radians(angle)) - cos = lambda angle: math.cos(math.radians(angle)) - self.towers = [ - (cos(210.)*radius, sin(210.)*radius), - (cos(330.)*radius, sin(330.)*radius), - (cos(90.)*radius, sin(90.)*radius)] + # Determine tower locations in cartesian space + angles = [config.getsection('stepper_a').getfloat('angle', 210.), + config.getsection('stepper_b').getfloat('angle', 330.), + config.getsection('stepper_c').getfloat('angle', 90.)] + self.towers = [(math.cos(math.radians(angle)) * radius, + math.sin(math.radians(angle)) * radius) + for angle in angles] # Find the point where an XY move could result in excessive # tower movement half_min_step_dist = min([s.step_dist for s in self.steppers]) * .5 |