diff options
Diffstat (limited to 'klippy/kinematics/winch.py')
| -rw-r--r-- | klippy/kinematics/winch.py | 13 |
1 files changed, 11 insertions, 2 deletions
diff --git a/klippy/kinematics/winch.py b/klippy/kinematics/winch.py index 04e2d498..4785d8ac 100644 --- a/klippy/kinematics/winch.py +++ b/klippy/kinematics/winch.py @@ -3,7 +3,7 @@ # Copyright (C) 2018-2019 Kevin O'Connor <kevin@koconnor.net> # # This file may be distributed under the terms of the GNU GPLv3 license. -import stepper, mathutil +import stepper, mathutil, homing class WinchKinematics: def __init__(self, toolhead, config): @@ -47,7 +47,16 @@ class WinchKinematics: pass def get_status(self, eventtime): # XXX - homed_checks and rail limits not implemented - return {'homed_axes': 'xyz'} + axes_min = [0.0, 0.0, 0.0, 0.0] + axes_max = [0.0, 0.0, 0.0, 0.0] + for pos, axis in enumerate('xyz'): + axes_min[pos] = min([a[pos] for a in self.anchors]) + axes_max[pos] = max([a[pos] for a in self.anchors]) + return { + 'homed_axes': 'xyz', + 'axis_minimum': homing.Coord(*axes_min), + 'axis_maximum': homing.Coord(*axes_max) + } def load_kinematics(toolhead, config): return WinchKinematics(toolhead, config) |