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delta: Minor comment updates 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2018-07-09 18:00:58 -04:00
parent e1833e020a
commit 68d78f0791
1 changed files with 4 additions and 1 deletions
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5
klippy/delta.py
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@ -11,6 +11,7 @@ SLOW_RATIO = 3.
class DeltaKinematics: class DeltaKinematics:
def __init__(self, toolhead, config): def __init__(self, toolhead, config):
# Setup tower rails
stepper_configs = [config.getsection('stepper_' + n) stepper_configs = [config.getsection('stepper_' + n)
for n in ['a', 'b', 'c']] for n in ['a', 'b', 'c']]
rail_a = stepper.PrinterRail( rail_a = stepper.PrinterRail(
@ -23,7 +24,7 @@ class DeltaKinematics:
stepper_configs[2], need_position_minmax = False, stepper_configs[2], need_position_minmax = False,
default_position_endstop=a_endstop) default_position_endstop=a_endstop)
self.rails = [rail_a, rail_b, rail_c] self.rails = [rail_a, rail_b, rail_c]
self.need_motor_enable = self.need_home = True # Read radius and arm lengths
self.radius = radius = config.getfloat('delta_radius', above=0.) self.radius = radius = config.getfloat('delta_radius', above=0.)
arm_length_a = stepper_configs[0].getfloat('arm_length', above=radius) arm_length_a = stepper_configs[0].getfloat('arm_length', above=radius)
self.arm_lengths = arm_lengths = [ self.arm_lengths = arm_lengths = [
@ -33,6 +34,8 @@ class DeltaKinematics:
self.endstops = [(rail.get_homing_info().position_endstop self.endstops = [(rail.get_homing_info().position_endstop
+ math.sqrt(arm2 - radius**2)) + math.sqrt(arm2 - radius**2))
for rail, arm2 in zip(self.rails, self.arm2)] for rail, arm2 in zip(self.rails, self.arm2)]
# Setup boundary checks
self.need_motor_enable = self.need_home = True
self.limit_xy2 = -1. self.limit_xy2 = -1.
self.max_z = min([rail.get_homing_info().position_endstop self.max_z = min([rail.get_homing_info().position_endstop
for rail in self.rails]) for rail in self.rails])