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delta: Use position_endstop for position_max

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There's no reason for the user to specify position_max - it can be
inferred on deltas from the endstop positions.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-02-19 10:36:08 -05:00
parent 38e9484f9f
commit 29ba92a551
2 changed files with 4 additions and 6 deletions
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6
klippy/delta.py
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@ -25,7 +25,7 @@ class DeltaKinematics:
self.max_xy2 = min(radius, arm_length - radius)**2
self.limit_xy2 = -1.
tower_height_at_zeros = math.sqrt(self.arm_length2 - radius**2)
self.max_z = self.steppers[0].position_max
self.max_z = max([s.position_endstop for s in self.steppers])
self.limit_z = self.max_z - (arm_length - tower_height_at_zeros)
logging.info(
"Delta max build height %.2fmm (radius tapered above %.2fmm)" % (
@ -101,10 +101,10 @@ class DeltaKinematics:
def home(self, homing_state):
# All axes are homed simultaneously
homing_state.set_axes([0, 1, 2])
s = self.steppers[0] # Assume homing parameters same for all steppers
s = self.steppers[0] # Assume homing speed same for all steppers
self.need_home = False
# Initial homing
homepos = [0., 0., s.position_endstop, None]
homepos = [0., 0., self.max_z, None]
coord = list(homepos)
coord[2] = -1.5 * math.sqrt(self.arm_length2-self.max_xy2)
homing_state.home(list(coord), homepos, self.steppers, s.homing_speed)