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probe: Initial support for Z-Probe hardware
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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6c252d30f5
commit
ce9db609ad
7 changed files with 91 additions and 6 deletions
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@ -70,7 +70,7 @@ class DeltaKinematics:
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% (math.sqrt(self.max_xy2), math.sqrt(self.slow_xy2),
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math.sqrt(self.very_slow_xy2)))
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self.set_position([0., 0., 0.])
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def get_steppers(self):
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def get_steppers(self, flags=""):
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return list(self.steppers)
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def _cartesian_to_actuator(self, coord):
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return [math.sqrt(self.arm2[i] - (self.towers[i][0] - coord[0])**2
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@ -101,6 +101,9 @@ class DeltaKinematics:
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ey_y = matrix_mul(ey, y)
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ez_z = matrix_mul(ez, z)
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return matrix_add(carriage1, matrix_add(ex_x, matrix_add(ey_y, ez_z)))
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def get_position(self):
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spos = [s.mcu_stepper.get_commanded_position() for s in self.steppers]
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return self._actuator_to_cartesian(spos)
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def set_position(self, newpos):
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pos = self._cartesian_to_actuator(newpos)
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for i in StepList:
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