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delta: Better delta build volume constraint check 

Existing code uses very restrictive build volume constraint checking
with just narrow cone on top of fully cylinder for delta printers.

Code here implements more permissive and still safe build volume
constraint checks.

Signed-off-by: Jan Herich <jan.herich@gmail.com>
This commit is contained in:
janherich 2022-11-30 23:33:24 +01:00 committed by KevinOConnor
parent 1ff0a5494a
commit 29ba5ab05a
1 changed files with 7 additions and 1 deletions
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8
klippy/kinematics/delta.py
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@ -65,6 +65,8 @@ class DeltaKinematics:
self.min_z = config.getfloat('minimum_z_position', 0, maxval=self.max_z) self.min_z = config.getfloat('minimum_z_position', 0, maxval=self.max_z)
self.limit_z = min([ep - arm self.limit_z = min([ep - arm
for ep, arm in zip(self.abs_endstops, arm_lengths)]) for ep, arm in zip(self.abs_endstops, arm_lengths)])
self.min_arm_length = min_arm_length = min(arm_lengths)
self.min_arm2 = min_arm_length**2
logging.info( logging.info(
"Delta max build height %.2fmm (radius tapered above %.2fmm)" "Delta max build height %.2fmm (radius tapered above %.2fmm)"
% (self.max_z, self.limit_z)) % (self.max_z, self.limit_z))
@ -123,7 +125,11 @@ class DeltaKinematics:
end_z = end_pos[2] end_z = end_pos[2]
limit_xy2 = self.max_xy2 limit_xy2 = self.max_xy2
if end_z > self.limit_z: if end_z > self.limit_z:
limit_xy2 = min(limit_xy2, (self.max_z - end_z)**2) above_z_limit = end_z - self.limit_z
allowed_radius = self.radius - math.sqrt(
self.min_arm2 - (self.min_arm_length - above_z_limit)**2
)
limit_xy2 = min(limit_xy2, allowed_radius**2)
if end_xy2 > limit_xy2 or end_z > self.max_z or end_z < self.min_z: if end_xy2 > limit_xy2 or end_z > self.max_z or end_z < self.min_z:
# Move out of range - verify not a homing move # Move out of range - verify not a homing move
if (end_pos[:2] != self.home_position[:2] if (end_pos[:2] != self.home_position[:2]