diff options
Diffstat (limited to 'klippy/delta.py')
| -rw-r--r-- | klippy/delta.py | 5 |
1 files changed, 4 insertions, 1 deletions
diff --git a/klippy/delta.py b/klippy/delta.py index 926d1245..328d01f5 100644 --- a/klippy/delta.py +++ b/klippy/delta.py @@ -11,6 +11,7 @@ SLOW_RATIO = 3. class DeltaKinematics: def __init__(self, toolhead, config): + # Setup tower rails stepper_configs = [config.getsection('stepper_' + n) for n in ['a', 'b', 'c']] rail_a = stepper.PrinterRail( @@ -23,7 +24,7 @@ class DeltaKinematics: stepper_configs[2], need_position_minmax = False, default_position_endstop=a_endstop) self.rails = [rail_a, rail_b, rail_c] - self.need_motor_enable = self.need_home = True + # Read radius and arm lengths self.radius = radius = config.getfloat('delta_radius', above=0.) arm_length_a = stepper_configs[0].getfloat('arm_length', above=radius) self.arm_lengths = arm_lengths = [ @@ -33,6 +34,8 @@ class DeltaKinematics: self.endstops = [(rail.get_homing_info().position_endstop + math.sqrt(arm2 - radius**2)) for rail, arm2 in zip(self.rails, self.arm2)] + # Setup boundary checks + self.need_motor_enable = self.need_home = True self.limit_xy2 = -1. self.max_z = min([rail.get_homing_info().position_endstop for rail in self.rails]) |