delta: Add support for specifying the angle each tower is at
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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@ -18,6 +18,10 @@ step_distance: .01
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endstop_pin: ^ar2
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homing_speed: 50.0
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position_endstop: 297.05
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#angle:
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# This option specifies the angle (in degrees) that the tower is
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# at. The default is 210 for stepper_a, 330 for stepper_b, and 90
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# for stepper_c.
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# The stepper_b section describes the stepper controlling the front
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# right tower (at 330 degrees).
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@ -29,12 +29,13 @@ class DeltaKinematics:
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logging.info(
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"Delta max build height %.2fmm (radius tapered above %.2fmm)" % (
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self.max_z, self.limit_z))
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sin = lambda angle: math.sin(math.radians(angle))
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cos = lambda angle: math.cos(math.radians(angle))
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self.towers = [
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(cos(210.)*radius, sin(210.)*radius),
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(cos(330.)*radius, sin(330.)*radius),
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(cos(90.)*radius, sin(90.)*radius)]
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# Determine tower locations in cartesian space
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angles = [config.getsection('stepper_a').getfloat('angle', 210.),
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config.getsection('stepper_b').getfloat('angle', 330.),
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config.getsection('stepper_c').getfloat('angle', 90.)]
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self.towers = [(math.cos(math.radians(angle)) * radius,
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math.sin(math.radians(angle)) * radius)
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for angle in angles]
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# Find the point where an XY move could result in excessive
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# tower movement
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half_min_step_dist = min([s.step_dist for s in self.steppers]) * .5
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