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delta_calibrate: Use kin.calc_position() in get_probed_position() callback 

It's possible (and a little simpler) to use cartesian coordinates when
calculating a stable position.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2018-09-26 10:21:05 -04:00 committed by KevinOConnor
parent c68c0c6526
commit ae4eb35a70
1 changed files with 2 additions and 9 deletions
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11
klippy/extras/delta_calibrate.py
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@ -49,13 +49,6 @@ def get_position_from_stable(stable_position, delta_params):
dp.stepdists, dp.towers, dp.abs_endstops, stable_position) ] dp.stepdists, dp.towers, dp.abs_endstops, stable_position) ]
return mathutil.trilateration(sphere_coords, [a**2 for a in dp.arms]) return mathutil.trilateration(sphere_coords, [a**2 for a in dp.arms])
# Return a stable position from the nominal delta tower positions
def get_stable_position(stepper_position, delta_params):
dp = delta_params
return [int((ep - sp) / sd + .5)
for sd, ep, sp in zip(
dp.stepdists, dp.abs_endstops, stepper_position)]
# Return a stable position from a cartesian coordinate # Return a stable position from a cartesian coordinate
def calc_stable_position(coord, delta_params): def calc_stable_position(coord, delta_params):
dp = delta_params dp = delta_params
@ -201,13 +194,13 @@ class DeltaCalibrate:
"%.3f,%.3f,%.3f" % tuple(spos2)) "%.3f,%.3f,%.3f" % tuple(spos2))
def get_probed_position(self): def get_probed_position(self):
kin = self.printer.lookup_object('toolhead').get_kinematics() kin = self.printer.lookup_object('toolhead').get_kinematics()
return [s.get_commanded_position() for s in kin.get_steppers()] return kin.calc_position()
def finalize(self, offsets, positions): def finalize(self, offsets, positions):
# Convert positions into (z_offset, stable_position) pairs # Convert positions into (z_offset, stable_position) pairs
z_offset = offsets[2] z_offset = offsets[2]
kin = self.printer.lookup_object('toolhead').get_kinematics() kin = self.printer.lookup_object('toolhead').get_kinematics()
delta_params = build_delta_params(kin.get_calibrate_params()) delta_params = build_delta_params(kin.get_calibrate_params())
probe_positions = [(z_offset, get_stable_position(p, delta_params)) probe_positions = [(z_offset, calc_stable_position(p, delta_params))
for p in positions] for p in positions]
# Perform analysis # Perform analysis
self.calculate_params(probe_positions, self.last_distances) self.calculate_params(probe_positions, self.last_distances)