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probe: Initial support for Z-Probe hardware

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Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-12-06 01:00:33 -05:00
parent 6c252d30f5
commit ce9db609ad
7 changed files with 91 additions and 6 deletions
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7
klippy/corexy.py
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@ -33,8 +33,13 @@ class CoreXYKinematics:
self.steppers[1].set_max_jerk(max_xy_halt_velocity, max_accel)
self.steppers[2].set_max_jerk(
min(max_halt_velocity, self.max_z_velocity), self.max_z_accel)
def get_steppers(self):
def get_steppers(self, flags=""):
if flags == "Z":
return [self.steppers[2]]
return list(self.steppers)
def get_position(self):
pos = [s.mcu_stepper.get_commanded_position() for s in self.steppers]
return [0.5 * (pos[0] + pos[1]), 0.5 * (pos[0] - pos[1]), pos[2]]
def set_position(self, newpos):
pos = (newpos[0] + newpos[1], newpos[0] - newpos[1], newpos[2])
for i in StepList: