diff options
Diffstat (limited to 'klippy/delta.py')
| -rw-r--r-- | klippy/delta.py | 21 |
1 files changed, 12 insertions, 9 deletions
diff --git a/klippy/delta.py b/klippy/delta.py index 6903e399..6cd785bc 100644 --- a/klippy/delta.py +++ b/klippy/delta.py @@ -17,12 +17,13 @@ class DeltaKinematics: for n in ['a', 'b', 'c']] stepper_a = stepper.PrinterHomingStepper( stepper_configs[0], need_position_minmax = False) + a_endstop = stepper_a.get_homing_info().position_endstop stepper_b = stepper.PrinterHomingStepper( stepper_configs[1], need_position_minmax = False, - default_position_endstop=stepper_a.position_endstop) + default_position_endstop=a_endstop) stepper_c = stepper.PrinterHomingStepper( stepper_configs[2], need_position_minmax = False, - default_position_endstop=stepper_a.position_endstop) + default_position_endstop=a_endstop) self.steppers = [stepper_a, stepper_b, stepper_c] self.need_motor_enable = self.need_home = True self.radius = radius = config.getfloat('delta_radius', above=0.) @@ -31,10 +32,12 @@ class DeltaKinematics: sconfig.getfloat('arm_length', arm_length_a, above=radius) for sconfig in stepper_configs] self.arm2 = [arm**2 for arm in arm_lengths] - self.endstops = [s.position_endstop + math.sqrt(arm2 - radius**2) + self.endstops = [(s.get_homing_info().position_endstop + + math.sqrt(arm2 - radius**2)) for s, arm2 in zip(self.steppers, self.arm2)] self.limit_xy2 = -1. - self.max_z = min([s.position_endstop for s in self.steppers]) + self.max_z = min([s.get_homing_info().position_endstop + for s in self.steppers]) self.min_z = config.getfloat('minimum_z_position', 0, maxval=self.max_z) self.limit_z = min([ep - arm for ep, arm in zip(self.endstops, arm_lengths)]) @@ -103,18 +106,18 @@ class DeltaKinematics: # 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 - # Initial homing - homing_speed = min(s.homing_speed, self.max_z_velocity) + # Initial homing - assume homing speed same for all steppers + hi = self.steppers[0].get_homing_info() + homing_speed = min(hi.speed, self.max_z_velocity) homepos = [0., 0., self.max_z, None] coord = list(homepos) coord[2] = -1.5 * math.sqrt(max(self.arm2)-self.max_xy2) homing_state.home(coord, homepos, endstops, homing_speed) # Retract - coord[2] = homepos[2] - s.homing_retract_dist + coord[2] = homepos[2] - hi.retract_dist homing_state.retract(coord, homing_speed) # Home again - coord[2] -= s.homing_retract_dist + coord[2] -= hi.retract_dist homing_state.home(coord, homepos, endstops, homing_speed/2.0, second_home=True) # Set final homed position |