diff options
Diffstat (limited to 'klippy/delta.py')
| -rw-r--r-- | klippy/delta.py | 11 |
1 files changed, 4 insertions, 7 deletions
diff --git a/klippy/delta.py b/klippy/delta.py index 27290aac..3b2ad674 100644 --- a/klippy/delta.py +++ b/klippy/delta.py @@ -28,17 +28,14 @@ class DeltaKinematics: (cos(210.)*radius, sin(210.)*radius), (cos(330.)*radius, sin(330.)*radius), (cos(90.)*radius, sin(90.)*radius)] - def build_config(self): + def set_max_jerk(self, max_xy_halt_velocity, max_accel): + # XXX - this sets conservative values for stepper in self.steppers: - stepper.set_max_jerk(0.005 * stepper.max_accel) # XXX + stepper.set_max_jerk(max_xy_halt_velocity, max_accel) + def build_config(self): for stepper in self.steppers: stepper.build_config() self.set_position([0., 0., 0.]) - def get_max_speed(self): - # XXX - this returns conservative values - max_xy_speed = min(s.max_velocity for s in self.steppers) - max_xy_accel = min(s.max_accel for s in self.steppers) - return max_xy_speed, max_xy_accel def cartesian_to_actuator(self, coord): return [int((math.sqrt(self.arm_length2 - (self.towers[i][0] - coord[0])**2 |