diff options
Diffstat (limited to 'klippy/delta.py')
| -rw-r--r-- | klippy/delta.py | 34 |
1 files changed, 23 insertions, 11 deletions
diff --git a/klippy/delta.py b/klippy/delta.py index 0fa8caf2..99233cf2 100644 --- a/klippy/delta.py +++ b/klippy/delta.py @@ -13,6 +13,7 @@ class DeltaKinematics: steppers = ['stepper_a', 'stepper_b', 'stepper_c'] self.steppers = [stepper.PrinterStepper(printer, config.getsection(n)) for n in steppers] + self.need_motor_enable = True radius = config.getfloat('delta_radius') arm_length = config.getfloat('delta_arm_length') self.arm_length2 = arm_length**2 @@ -105,6 +106,11 @@ class DeltaKinematics: self.limit_xy2 = -1. for stepper in self.steppers: stepper.motor_enable(move_time, 0) + self.need_motor_enable = True + def check_motor_enable(self, move_time): + for i in StepList: + self.steppers[i].motor_enable(move_time, 1) + self.need_motor_enable = False def query_endstops(self, move_time): return homing.QueryEndstops(["a", "b", "c"], self.steppers) def check_move(self, move): @@ -120,6 +126,8 @@ class DeltaKinematics: def move_z(self, move_time, move): if not move.axes_d[2]: return + if self.need_motor_enable: + self.check_motor_enable(move_time) inv_accel = 1. / move.accel inv_cruise_v = 1. / move.cruise_v for i in StepList: @@ -128,7 +136,8 @@ class DeltaKinematics: tower_d2 = towerx_d**2 + towery_d**2 height = math.sqrt(self.arm_length2 - tower_d2) + move.start_pos[2] - mcu_time, so = self.steppers[i].prep_move(move_time) + mcu_stepper = self.steppers[i].mcu_stepper + mcu_time = mcu_stepper.print_to_mcu_time(move_time) inv_step_dist = self.steppers[i].inv_step_dist step_dist = self.steppers[i].step_dist steps = move.axes_d[2] * inv_step_dist @@ -143,7 +152,7 @@ class DeltaKinematics: accel_time_offset = move.start_v * inv_accel accel_sqrt_offset = accel_time_offset**2 accel_steps = move.accel_r * steps - count = so.step_sqrt( + count = mcu_stepper.step_sqrt( mcu_time - accel_time_offset, accel_steps, step_offset , accel_sqrt_offset, accel_multiplier) step_pos += count @@ -154,7 +163,7 @@ class DeltaKinematics: #t = pos/cruise_v cruise_multiplier = step_dist * inv_cruise_v cruise_steps = move.cruise_r * steps - count = so.step_factor( + count = mcu_stepper.step_factor( mcu_time, cruise_steps, step_offset, cruise_multiplier) step_pos += count step_offset += count - cruise_steps @@ -165,7 +174,7 @@ class DeltaKinematics: decel_time_offset = move.cruise_v * inv_accel decel_sqrt_offset = decel_time_offset**2 decel_steps = move.decel_r * steps - count = so.step_sqrt( + count = mcu_stepper.step_sqrt( mcu_time + decel_time_offset, decel_steps, step_offset , decel_sqrt_offset, -accel_multiplier) step_pos += count @@ -175,6 +184,8 @@ class DeltaKinematics: if not axes_d[0] and not axes_d[1]: self.move_z(move_time, move) return + if self.need_motor_enable: + self.check_motor_enable(move_time) move_d = move.move_d movez_r = 0. inv_movexy_d = 1. / move_d @@ -243,44 +254,45 @@ class DeltaKinematics: step_dist = self.steppers[i].step_dist step_pos = self.stepper_pos[i] height = step_pos*step_dist - closestz - mcu_time, so = self.steppers[i].prep_move(move_time) + mcu_stepper = self.steppers[i].mcu_stepper + mcu_time = mcu_stepper.print_to_mcu_time(move_time) if accel_up_d > 0.: - count = so.step_delta_accel( + count = mcu_stepper.step_delta_accel( mcu_time - accel_time_offset, closest_d - accel_up_d, step_dist, closest_d + accel_offset, closest_height2, height, movez_r, accel_multiplier) step_pos += count height += count * step_dist if cruise_up_d > 0.: - count = so.step_delta_const( + count = mcu_stepper.step_delta_const( mcu_time + accel_t, closest_d - cruise_up_d, step_dist, closest_d - accel_d, closest_height2, height, movez_r, inv_cruise_v) step_pos += count height += count * step_dist if decel_up_d > 0.: - count = so.step_delta_accel( + count = mcu_stepper.step_delta_accel( mcu_time + decel_time_offset, closest_d - decel_up_d, step_dist, closest_d - decel_offset, closest_height2, height, movez_r, -accel_multiplier) step_pos += count height += count * step_dist if accel_down_d > 0.: - count = so.step_delta_accel( + count = mcu_stepper.step_delta_accel( mcu_time - accel_time_offset, closest_d - accel_down_d, -step_dist, closest_d + accel_offset, closest_height2, height, movez_r, accel_multiplier) step_pos += count height += count * step_dist if cruise_down_d > 0.: - count = so.step_delta_const( + count = mcu_stepper.step_delta_const( mcu_time + accel_t, closest_d - cruise_down_d, -step_dist, closest_d - accel_d, closest_height2, height, movez_r, inv_cruise_v) step_pos += count height += count * step_dist if decel_down_d > 0.: - count = so.step_delta_accel( + count = mcu_stepper.step_delta_accel( mcu_time + decel_time_offset, closest_d - decel_down_d, -step_dist, closest_d - decel_offset, closest_height2, height, movez_r, -accel_multiplier) |