diff options
Diffstat (limited to 'klippy/kinematics/delta.py')
| -rw-r--r-- | klippy/kinematics/delta.py | 19 |
1 files changed, 4 insertions, 15 deletions
diff --git a/klippy/kinematics/delta.py b/klippy/kinematics/delta.py index f340f9b4..6be91661 100644 --- a/klippy/kinematics/delta.py +++ b/klippy/kinematics/delta.py @@ -97,22 +97,11 @@ class DeltaKinematics: def home(self, homing_state): # All axes are homed simultaneously homing_state.set_axes([0, 1, 2]) - endstops = [es for rail in self.rails for es in rail.get_endstops()] - # Initial homing - assume homing speed same for all steppers - hi = self.rails[0].get_homing_info() - homing_speed = min(hi.speed, self.max_z_velocity) - second_homing_speed = min(hi.second_homing_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] - hi.retract_dist - homing_state.retract(coord, homing_speed) - # Home again - coord[2] -= hi.retract_dist - homing_state.home(coord, homepos, endstops, - second_homing_speed, second_home=True) + forcepos = list(homepos) + forcepos[2] = -1.5 * math.sqrt(max(self.arm2)-self.max_xy2) + homing_state.home_rails(self.rails, forcepos, homepos, + limit_speed=self.max_z_velocity) # Set final homed position spos = [ep + rail.get_homed_offset() for ep, rail in zip(self.abs_endstops, self.rails)] |