2 files changed, 105 insertions, 0 deletions
diff --git a/test/klippy/delta_calibrate.cfg b/test/klippy/delta_calibrate.cfg
new file mode 100644
index 00000000..666b09a2
--- /dev/null
+++ b/test/klippy/delta_calibrate.cfg
@@ -0,0 +1,74 @@
+# Test config for the DELTA_CALIBRATE command (on linear delta robots)
+[stepper_a]
+step_pin: ar54
+dir_pin: ar55
+enable_pin: !ar38
+step_distance: .000100
+endstop_pin: ^ar2
+homing_speed: 50
+#position_endstop: 297.05
+#arm_length: 333.0
+
+[stepper_b]
+step_pin: ar60
+dir_pin: ar61
+enable_pin: !ar56
+step_distance: .000100
+endstop_pin: ^ar15
+
+[stepper_c]
+step_pin: ar46
+dir_pin: ar48
+enable_pin: !ar62
+step_distance: .000100
+endstop_pin: ^ar19
+
+[mcu]
+serial: /dev/ttyACM0
+pin_map: arduino
+
+[printer]
+kinematics: delta
+max_velocity: 300
+max_accel: 3000
+#delta_radius: 174.75
+
+[delta_calibrate]
+radius: 50
+
+#*# <---------------------- SAVE_CONFIG ---------------------->
+#*# DO NOT EDIT THIS BLOCK OR BELOW. The contents are auto-generated.
+#*#
+#*# [printer]
+#*# delta_radius = 174.750004
+#*#
+#*# [stepper_a]
+#*# angle = 210.000032
+#*# arm_length = 333.000032
+#*# position_endstop = 297.049970
+#*#
+#*# [stepper_b]
+#*# angle = 329.999997
+#*# arm_length = 332.999811
+#*# position_endstop = 297.050132
+#*#
+#*# [stepper_c]
+#*# angle = 90.000000
+#*# arm_length = 333.000181
+#*# position_endstop = 297.049900
+#*#
+#*# [delta_calibrate]
+#*# height0 = 0.0
+#*# height0_pos = 2970499.999,2970499.999,2970499.999
+#*# height1 = 0.0
+#*# height1_pos = 3163266.999,3163266.999,2727853.999
+#*# height2 = 0.0
+#*# height2_pos = 2869315.999,3303154.999,2869315.999
+#*# height3 = 0.0
+#*# height3_pos = 2749008.999,3138330.999,3138330.999
+#*# height4 = 0.0
+#*# height4_pos = 2885497.999,2885497.999,3218746.999
+#*# height5 = 0.0
+#*# height5_pos = 3114555.999,2771134.999,3114555.999
+#*# height6 = 0.0
+#*# height6_pos = 3260109.999,2876968.999,2876968.999
diff --git a/test/klippy/delta_calibrate.test b/test/klippy/delta_calibrate.test
new file mode 100644
index 00000000..8abf4e54
--- /dev/null
+++ b/test/klippy/delta_calibrate.test
@@ -0,0 +1,31 @@
+# Test case for basic movement on delta printers
+CONFIG delta_calibrate.cfg
+DICTIONARY atmega2560.dict
+
+# Start by homing the printer.
+G28
+
+# Run basic delta calibration (in manual mode)
+DELTA_CALIBRATE METHOD=manual
+G1 Z0.1
+ACCEPT
+G1 Z0.1
+ACCEPT
+G1 Z0.1
+ACCEPT
+G1 Z0.1
+ACCEPT
+G1 Z0.1
+ACCEPT
+G1 Z0.1
+ACCEPT
+G1 Z0.1
+ACCEPT
+
+# Run extended delta calibration
+DELTA_ANALYZE CENTER_DISTS=74,74,74,74,74,74
+DELTA_ANALYZE OUTER_DISTS=74,74,74,74,74,74
+DELTA_ANALYZE CENTER_PILLAR_WIDTHS=9,9,9
+DELTA_ANALYZE OUTER_PILLAR_WIDTHS=9,9,9,9,9,9
+DELTA_ANALYZE SCALE=1
+DELTA_ANALYZE CALIBRATE=extended