diff options
Diffstat (limited to 'klippy/delta.py')
| -rw-r--r-- | klippy/delta.py | 24 |
1 files changed, 12 insertions, 12 deletions
diff --git a/klippy/delta.py b/klippy/delta.py index 5533e83c..0c523d71 100644 --- a/klippy/delta.py +++ b/klippy/delta.py @@ -123,14 +123,14 @@ class DeltaKinematics: + self.steppers[i].get_homed_offset() for i in StepList] homing_state.set_homed_position(self._actuator_to_cartesian(spos)) - def motor_off(self, move_time): + def motor_off(self, print_time): self.limit_xy2 = -1. for stepper in self.steppers: - stepper.motor_enable(move_time, 0) + stepper.motor_enable(print_time, 0) self.need_motor_enable = self.need_home = True - def _check_motor_enable(self, move_time): + def _check_motor_enable(self, print_time): for i in StepList: - self.steppers[i].motor_enable(move_time, 1) + self.steppers[i].motor_enable(print_time, 1) self.need_motor_enable = False def query_endstops(self, print_time): endstops = [(s, s.query_endstop(print_time)) for s in self.steppers] @@ -164,9 +164,9 @@ class DeltaKinematics: move.limit_speed(max_velocity * r, self.max_accel * r) limit_xy2 = -1. self.limit_xy2 = min(limit_xy2, self.slow_xy2) - def move(self, move_time, move): + def move(self, print_time, move): if self.need_motor_enable: - self._check_motor_enable(move_time) + self._check_motor_enable(print_time) axes_d = move.axes_d move_d = move.move_d movexy_r = 1. @@ -203,24 +203,24 @@ class DeltaKinematics: # Generate steps mcu_stepper = self.steppers[i].mcu_stepper - mcu_time = mcu_stepper.print_to_mcu_time(move_time) + move_time = print_time if accel_d: mcu_stepper.step_delta( - mcu_time, accel_d, move.start_v, accel, + move_time, accel_d, move.start_v, accel, vt_startz, vt_startxy_d, vt_arm_d, movez_r) vt_startz += accel_d * movez_r vt_startxy_d -= accel_d * movexy_r - mcu_time += move.accel_t + move_time += move.accel_t if cruise_d: mcu_stepper.step_delta( - mcu_time, cruise_d, cruise_v, 0., + move_time, cruise_d, cruise_v, 0., vt_startz, vt_startxy_d, vt_arm_d, movez_r) vt_startz += cruise_d * movez_r vt_startxy_d -= cruise_d * movexy_r - mcu_time += move.cruise_t + move_time += move.cruise_t if decel_d: mcu_stepper.step_delta( - mcu_time, decel_d, cruise_v, -accel, + move_time, decel_d, cruise_v, -accel, vt_startz, vt_startxy_d, vt_arm_d, movez_r) |