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delta: Reorganize init() 

Just code movement.  Move boundary check init to after tower init.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2018-10-08 15:25:33 -04:00
parent d4bf51231a
commit bd1ba86839
1 changed files with 18 additions and 18 deletions
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36
klippy/kinematics/delta.py
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@ -23,6 +23,15 @@ 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]
# Setup stepper max halt velocity
self.max_velocity, self.max_accel = toolhead.get_max_velocity()
self.max_z_velocity = config.getfloat(
'max_z_velocity', self.max_velocity,
above=0., maxval=self.max_velocity)
max_halt_velocity = toolhead.get_max_axis_halt() * SLOW_RATIO
max_halt_accel = self.max_accel * SLOW_RATIO
for rail in self.rails:
rail.set_max_jerk(max_halt_velocity, max_halt_accel)
# Read radius and arm lengths # 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)
@ -33,6 +42,15 @@ class DeltaKinematics:
self.abs_endstops = [(rail.get_homing_info().position_endstop self.abs_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)]
# Determine tower locations in cartesian space
self.angles = [sconfig.getfloat('angle', angle)
for sconfig, angle in zip(stepper_configs,
[210., 330., 90.])]
self.towers = [(math.cos(math.radians(angle)) * radius,
math.sin(math.radians(angle)) * radius)
for angle in self.angles]
for r, a, t in zip(self.rails, self.arm2, self.towers):
r.setup_itersolve('delta_stepper_alloc', a, t[0], t[1])
# Setup boundary checks # Setup boundary checks
self.need_motor_enable = self.need_home = True self.need_motor_enable = self.need_home = True
self.limit_xy2 = -1. self.limit_xy2 = -1.
@ -44,24 +62,6 @@ class DeltaKinematics:
logging.info( logging.info(
"Delta max build height %.2fmm (radius tapered above %.2fmm)" % ( "Delta max build height %.2fmm (radius tapered above %.2fmm)" % (
self.max_z, self.limit_z)) self.max_z, self.limit_z))
# Setup stepper max halt velocity
self.max_velocity, self.max_accel = toolhead.get_max_velocity()
self.max_z_velocity = config.getfloat(
'max_z_velocity', self.max_velocity,
above=0., maxval=self.max_velocity)
max_halt_velocity = toolhead.get_max_axis_halt() * SLOW_RATIO
max_halt_accel = self.max_accel * SLOW_RATIO
for rail in self.rails:
rail.set_max_jerk(max_halt_velocity, max_halt_accel)
# Determine tower locations in cartesian space
self.angles = [sconfig.getfloat('angle', angle)
for sconfig, angle in zip(stepper_configs,
[210., 330., 90.])]
self.towers = [(math.cos(math.radians(angle)) * radius,
math.sin(math.radians(angle)) * radius)
for angle in self.angles]
for r, a, t in zip(self.rails, self.arm2, self.towers):
r.setup_itersolve('delta_stepper_alloc', a, t[0], t[1])
# Find the point where an XY move could result in excessive # Find the point where an XY move could result in excessive
# tower movement # tower movement
half_min_step_dist = min([r.get_steppers()[0].get_step_dist() half_min_step_dist = min([r.get_steppers()[0].get_step_dist()