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delta: Use position_endstop for position_max 

There's no reason for the user to specify position_max - it can be
inferred on deltas from the endstop positions.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-02-19 10:36:08 -05:00
parent 38e9484f9f
commit 29ba92a551
2 changed files with 4 additions and 6 deletions
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4
config/example-delta.cfg
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@ -9,8 +9,7 @@
# The stepper_a section describes the stepper controlling the front # The stepper_a section describes the stepper controlling the front
# left tower (at 210 degrees). This section also controls the homing # left tower (at 210 degrees). This section also controls the homing
# parameters (homing_speed, homing_retract_dist) and maximum tower # parameters (homing_speed, homing_retract_dist) for all towers.
# length (position_max) for all towers.
[stepper_a] [stepper_a]
step_pin: ar54 step_pin: ar54
dir_pin: ar55 dir_pin: ar55
@ -19,7 +18,6 @@ step_distance: .01
endstop_pin: ^ar2 endstop_pin: ^ar2
homing_speed: 50.0 homing_speed: 50.0
position_endstop: 297.05 position_endstop: 297.05
position_max: 297.55
# The stepper_b section describes the stepper controlling the front # The stepper_b section describes the stepper controlling the front
# right tower (at 330 degrees) # right tower (at 330 degrees)

6
klippy/delta.py
View File

@ -25,7 +25,7 @@ class DeltaKinematics:
self.max_xy2 = min(radius, arm_length - radius)**2 self.max_xy2 = min(radius, arm_length - radius)**2
self.limit_xy2 = -1. self.limit_xy2 = -1.
tower_height_at_zeros = math.sqrt(self.arm_length2 - radius**2) tower_height_at_zeros = math.sqrt(self.arm_length2 - radius**2)
self.max_z = self.steppers[0].position_max self.max_z = max([s.position_endstop for s in self.steppers])
self.limit_z = self.max_z - (arm_length - tower_height_at_zeros) self.limit_z = self.max_z - (arm_length - tower_height_at_zeros)
logging.info( logging.info(
"Delta max build height %.2fmm (radius tapered above %.2fmm)" % ( "Delta max build height %.2fmm (radius tapered above %.2fmm)" % (
@ -101,10 +101,10 @@ class DeltaKinematics:
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])
s = self.steppers[0] # Assume homing parameters same for all steppers s = self.steppers[0] # Assume homing speed same for all steppers
self.need_home = False self.need_home = False
# Initial homing # Initial homing
homepos = [0., 0., s.position_endstop, None] homepos = [0., 0., self.max_z, None]
coord = list(homepos) coord = list(homepos)
coord[2] = -1.5 * math.sqrt(self.arm_length2-self.max_xy2) coord[2] = -1.5 * math.sqrt(self.arm_length2-self.max_xy2)
homing_state.home(list(coord), homepos, self.steppers, s.homing_speed) homing_state.home(list(coord), homepos, self.steppers, s.homing_speed)