diff options
Diffstat (limited to 'klippy/delta.py')
| -rw-r--r-- | klippy/delta.py | 20 |
1 files changed, 9 insertions, 11 deletions
diff --git a/klippy/delta.py b/klippy/delta.py index fc796cd4..5533e83c 100644 --- a/klippy/delta.py +++ b/klippy/delta.py @@ -12,13 +12,11 @@ StepList = (0, 1, 2) SLOW_RATIO = 3. class DeltaKinematics: - def __init__(self, printer, config): - self.config = config + def __init__(self, toolhead, printer, config): self.steppers = [stepper.PrinterHomingStepper( printer, config.getsection('stepper_' + n), n) for n in ['a', 'b', 'c']] self.need_motor_enable = self.need_home = True - self.max_velocity = self.max_z_velocity = self.max_accel = 0. radius = config.getfloat('delta_radius', above=0.) arm_length = config.getfloat('delta_arm_length', above=radius) self.arm_length2 = arm_length**2 @@ -29,6 +27,14 @@ class DeltaKinematics: logging.info( "Delta max build height %.2fmm (radius tapered above %.2fmm)" % ( self.max_z, self.limit_z)) + # Setup stepper max halt velocity + self.max_velocity, self.max_accel = toolhead.get_max_velocity() + self.max_z_velocity = config.getfloat( + 'max_z_velocity', self.max_velocity, + above=0., maxval=self.max_velocity) + max_xy_halt_velocity = toolhead.get_max_axis_halt(self.max_accel) + for s in self.steppers: + s.set_max_jerk(max_xy_halt_velocity, self.max_accel) # Determine tower locations in cartesian space angles = [config.getsection('stepper_a').getfloat('angle', 210.), config.getsection('stepper_b').getfloat('angle', 330.), @@ -52,14 +58,6 @@ class DeltaKinematics: % (math.sqrt(self.max_xy2), math.sqrt(self.slow_xy2), math.sqrt(self.very_slow_xy2))) self.set_position([0., 0., 0.]) - def set_max_jerk(self, max_xy_halt_velocity, max_velocity, max_accel): - self.max_velocity = max_velocity - max_z_velocity = self.config.getfloat( - 'max_z_velocity', max_velocity, above=0.) - self.max_z_velocity = min(max_velocity, max_z_velocity) - self.max_accel = max_accel - for stepper in self.steppers: - stepper.set_max_jerk(max_xy_halt_velocity, max_accel) def _cartesian_to_actuator(self, coord): return [math.sqrt(self.arm_length2 - (self.towers[i][0] - coord[0])**2 |