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delta: Make it clear which methods of DeltaKinematics are internal 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2016-12-08 13:09:40 -05:00
parent 83f7d702e7
commit 0718a1bd1f
1 changed files with 8 additions and 8 deletions
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16
klippy/delta.py
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@ -37,13 +37,13 @@ class DeltaKinematics:
for stepper in self.steppers: for stepper in self.steppers:
stepper.build_config() stepper.build_config()
self.set_position([0., 0., 0.]) self.set_position([0., 0., 0.])
def cartesian_to_actuator(self, coord): def _cartesian_to_actuator(self, coord):
return [int((math.sqrt(self.arm_length2 return [int((math.sqrt(self.arm_length2
- (self.towers[i][0] - coord[0])**2 - (self.towers[i][0] - coord[0])**2
- (self.towers[i][1] - coord[1])**2) + coord[2]) - (self.towers[i][1] - coord[1])**2) + coord[2])
* self.steppers[i].inv_step_dist + 0.5) * self.steppers[i].inv_step_dist + 0.5)
for i in StepList] for i in StepList]
def actuator_to_cartesian(self, pos): def _actuator_to_cartesian(self, pos):
# Based on code from Smoothieware # Based on code from Smoothieware
tower1 = list(self.towers[0]) + [pos[0]] tower1 = list(self.towers[0]) + [pos[0]]
tower2 = list(self.towers[1]) + [pos[1]] tower2 = list(self.towers[1]) + [pos[1]]
@ -75,14 +75,14 @@ class DeltaKinematics:
return matrix_sub(circumcenter, matrix_mul(normal, dist)) return matrix_sub(circumcenter, matrix_mul(normal, dist))
def set_position(self, newpos): def set_position(self, newpos):
pos = self.cartesian_to_actuator(newpos) pos = self._cartesian_to_actuator(newpos)
for i in StepList: for i in StepList:
self.steppers[i].mcu_stepper.set_position(pos[i]) self.steppers[i].mcu_stepper.set_position(pos[i])
def get_homed_position(self, homing_state): def _get_homed_position(self, homing_state):
pos = [(s.mcu_stepper.commanded_position + s.get_homed_offset()) pos = [(s.mcu_stepper.commanded_position + s.get_homed_offset())
* s.step_dist * s.step_dist
for s in self.steppers] for s in self.steppers]
return self.actuator_to_cartesian(pos) return self._actuator_to_cartesian(pos)
def home(self, homing_state): def home(self, homing_state):
# All axes are homed simultaneously # All axes are homed simultaneously
homing_state.set_axes([0, 1, 2]) homing_state.set_axes([0, 1, 2])
@ -101,13 +101,13 @@ class DeltaKinematics:
coord[2] -= s.homing_retract_dist coord[2] -= s.homing_retract_dist
homing_state.plan_second_home(list(coord), homepos, self.steppers homing_state.plan_second_home(list(coord), homepos, self.steppers
, s.homing_speed/2.0) , s.homing_speed/2.0)
homing_state.plan_calc_position(self.get_homed_position) homing_state.plan_calc_position(self._get_homed_position)
def motor_off(self, move_time): def motor_off(self, move_time):
self.limit_xy2 = -1. self.limit_xy2 = -1.
for stepper in self.steppers: for stepper in self.steppers:
stepper.motor_enable(move_time, 0) stepper.motor_enable(move_time, 0)
self.need_motor_enable = True self.need_motor_enable = True
def check_motor_enable(self, move_time): def _check_motor_enable(self, move_time):
for i in StepList: for i in StepList:
self.steppers[i].motor_enable(move_time, 1) self.steppers[i].motor_enable(move_time, 1)
self.need_motor_enable = False self.need_motor_enable = False
@ -143,7 +143,7 @@ class DeltaKinematics:
inv_movexy_d = 1. / movexy_d inv_movexy_d = 1. / movexy_d
if self.need_motor_enable: if self.need_motor_enable:
self.check_motor_enable(move_time) self._check_motor_enable(move_time)
origx, origy, origz = move.start_pos[:3] origx, origy, origz = move.start_pos[:3]