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kinematics: report all axis limits (min/max)

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Signed-off-by: Janar Sööt <janar.soot@gmail.com>
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Janar Sööt 2020-12-28 00:37:32 +02:00 • committed by KevinOConnor
parent a5ebe5825a
commit e68cf08d15
9 changed files with 81 additions and 15 deletions
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11
klippy/kinematics/delta.py
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@ -4,7 +4,7 @@
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import math, logging
import stepper, mathutil
import stepper, mathutil, homing
# Slow moves once the ratio of tower to XY movement exceeds SLOW_RATIO
SLOW_RATIO = 3.
@ -146,7 +146,14 @@ class DeltaKinematics:
limit_xy2 = -1.
self.limit_xy2 = min(limit_xy2, self.slow_xy2)
def get_status(self, eventtime):
return {'homed_axes': '' if self.need_home else 'xyz'}
max_xy = math.sqrt(self.max_xy2)
axes_min = [-max_xy, -max_xy, self.min_z, 0.]
axes_max = [max_xy, max_xy, self.max_z, 0.]
return {
'homed_axes': '' if self.need_home else 'xyz',
'axis_minimum': homing.Coord(*axes_min),
'axis_maximum': homing.Coord(*axes_max)
}
def get_calibration(self):
endstops = [rail.get_homing_info().position_endstop
for rail in self.rails]