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kinematics: report all axis limits (min/max)
Signed-off-by: Janar Sööt <janar.soot@gmail.com>
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9 changed files with 81 additions and 15 deletions
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@ -4,7 +4,7 @@
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#
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# This file may be distributed under the terms of the GNU GPLv3 license.
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import math, logging
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import stepper, mathutil
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import stepper, mathutil, homing
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# Slow moves once the ratio of tower to XY movement exceeds SLOW_RATIO
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SLOW_RATIO = 3.
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@ -146,7 +146,14 @@ class DeltaKinematics:
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limit_xy2 = -1.
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self.limit_xy2 = min(limit_xy2, self.slow_xy2)
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def get_status(self, eventtime):
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return {'homed_axes': '' if self.need_home else 'xyz'}
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max_xy = math.sqrt(self.max_xy2)
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axes_min = [-max_xy, -max_xy, self.min_z, 0.]
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axes_max = [max_xy, max_xy, self.max_z, 0.]
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return {
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'homed_axes': '' if self.need_home else 'xyz',
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'axis_minimum': homing.Coord(*axes_min),
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'axis_maximum': homing.Coord(*axes_max)
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}
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def get_calibration(self):
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endstops = [rail.get_homing_info().position_endstop
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for rail in self.rails]
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