diff options
Diffstat (limited to 'klippy/kinematics/cartesian.py')
| -rw-r--r-- | klippy/kinematics/cartesian.py | 17 |
1 files changed, 12 insertions, 5 deletions
diff --git a/klippy/kinematics/cartesian.py b/klippy/kinematics/cartesian.py index 6d576b5b..9774672e 100644 --- a/klippy/kinematics/cartesian.py +++ b/klippy/kinematics/cartesian.py @@ -52,20 +52,27 @@ class CartKinematics: def get_steppers(self): return [s for rail in self.rails for s in rail.get_steppers()] def calc_position(self, stepper_positions): - return [stepper_positions[rail.get_name()] for rail in self.rails] + rails = self.rails + if self.dc_module: + primary_rail = self.dc_module.get_primary_rail().get_rail() + rails = (rails[:self.dc_module.axis] + + [primary_rail] + rails[self.dc_module.axis+1:]) + return [stepper_positions[rail.get_name()] for rail in rails] def update_limits(self, i, range): l, h = self.limits[i] # Only update limits if this axis was already homed, # otherwise leave in un-homed state. if l <= h: self.limits[i] = range - def override_rail(self, i, rail): - self.rails[i] = rail def set_position(self, newpos, homing_axes): for i, rail in enumerate(self.rails): rail.set_position(newpos) - if i in homing_axes: - self.limits[i] = rail.get_range() + for axis in homing_axes: + if self.dc_module and axis == self.dc_module.axis: + rail = self.dc_module.get_primary_rail().get_rail() + else: + rail = self.rails[axis] + self.limits[axis] = rail.get_range() def note_z_not_homed(self): # Helper for Safe Z Home self.limits[2] = (1.0, -1.0) |