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delta: Make sure homing distance is large enough to hit the endstop 

The head may be far away from an axis at the start of a home, and that
axis must then traverse more than just the distance from zero height
to the endstop position.  Add in additional distance to account for
this.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2016-12-05 13:26:26 -05:00
parent 611e1d239b
commit 5458f3cbd2
1 changed files with 1 additions and 1 deletions
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klippy/delta.py
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@ -91,7 +91,7 @@ class DeltaKinematics:
# Initial homing # Initial homing
homepos = [0., 0., s.position_endstop, None] homepos = [0., 0., s.position_endstop, None]
coord = list(homepos) coord = list(homepos)
coord[2] -= 1.5*(s.position_endstop) coord[2] = -1.5 * math.sqrt(self.arm_length2-self.max_xy2)
homing_state.plan_home(list(coord), homepos, self.steppers homing_state.plan_home(list(coord), homepos, self.steppers
, s.homing_speed) , s.homing_speed)
# Retract # Retract