From ce0f4fe0383f9098883e03fd7d58bfa77bcb5b74 Mon Sep 17 00:00:00 2001 From: Kevin O'Connor Date: Sat, 14 Jul 2018 11:35:13 -0400 Subject: delta: Minor change to get_position_from_stable() Signed-off-by: Kevin O'Connor --- klippy/extras/delta_calibrate.py | 14 ++++++-------- 1 file changed, 6 insertions(+), 8 deletions(-) (limited to 'klippy/extras/delta_calibrate.py') diff --git a/klippy/extras/delta_calibrate.py b/klippy/extras/delta_calibrate.py index 42104d29..f8f87d9e 100644 --- a/klippy/extras/delta_calibrate.py +++ b/klippy/extras/delta_calibrate.py @@ -4,7 +4,7 @@ # # This file may be distributed under the terms of the GNU GPLv3 license. import math, logging -import probe, mathutil, kinematics.delta +import probe, mathutil class DeltaCalibrate: def __init__(self, config): @@ -40,20 +40,18 @@ class DeltaCalibrate: logging.info("Initial delta_calibrate parameters: %s", params) adj_params = ('endstop_a', 'endstop_b', 'endstop_c', 'radius', 'angle_a', 'angle_b') - get_position_from_stable = kinematics.delta.get_position_from_stable def delta_errorfunc(params): total_error = 0. - for spos in positions: - x, y, z = get_position_from_stable(spos, params) + for x, y, z in kin.get_positions_from_stable(positions, params): total_error += (z - z_offset)**2 return total_error new_params = mathutil.coordinate_descent( adj_params, params, delta_errorfunc) logging.info("Calculated delta_calibrate parameters: %s", new_params) - for spos in positions: - logging.info("orig: %s new: %s", - get_position_from_stable(spos, params), - get_position_from_stable(spos, new_params)) + old_positions = kin.get_positions_from_stable(positions, params) + new_positions = kin.get_positions_from_stable(positions, new_params) + for oldpos, newpos in zip(old_positions, new_positions): + logging.info("orig: %s new: %s", oldpos, newpos) self.gcode.respond_info( "stepper_a: position_endstop: %.6f angle: %.6f\n" "stepper_b: position_endstop: %.6f angle: %.6f\n" -- cgit v1.2.3-70-g09d2