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delta: Fix support for different endstop_position settings on each stepper 

The endstop_position is intended to support different values for each
stepper so that the individual tower heights can be configured.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-06-09 19:45:44 -04:00
parent 959509496a
commit 156de2e4c2
1 changed files with 6 additions and 4 deletions
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10
klippy/delta.py
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@ -24,7 +24,7 @@ class DeltaKinematics:
self.arm_length2 = arm_length**2
self.limit_xy2 = -1.
tower_height_at_zeros = math.sqrt(self.arm_length2 - radius**2)
self.max_z = max([s.position_endstop for s in self.steppers])
self.max_z = min([s.position_endstop for s in self.steppers])
self.limit_z = self.max_z - (arm_length - tower_height_at_zeros)
logging.info(
"Delta max build height %.2fmm (radius tapered above %.2fmm)" % (
@ -119,9 +119,11 @@ class DeltaKinematics:
homing_state.home(list(coord), homepos, self.steppers
, s.homing_speed/2.0, second_home=True)
# Set final homed position
coord = [s.mcu_stepper.get_commanded_position() + s.get_homed_offset()
for s in self.steppers]
homing_state.set_homed_position(self._actuator_to_cartesian(coord))
spos = self._cartesian_to_actuator(homepos)
spos = [spos[i] + self.steppers[i].position_endstop - self.max_z
+ self.steppers[i].get_homed_offset()
for i in StepList]
homing_state.set_homed_position(self._actuator_to_cartesian(spos))
def motor_off(self, move_time):
self.limit_xy2 = -1.
for stepper in self.steppers: