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probe: Initial support for Z-Probe hardware

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Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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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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5
klippy/delta.py
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@@ -70,7 +70,7 @@ class DeltaKinematics:
% (math.sqrt(self.max_xy2), math.sqrt(self.slow_xy2),
math.sqrt(self.very_slow_xy2)))
self.set_position([0., 0., 0.])
def get_steppers(self):
def get_steppers(self, flags=""):
return list(self.steppers)
def _cartesian_to_actuator(self, coord):
return [math.sqrt(self.arm2[i] - (self.towers[i][0] - coord[0])**2
@@ -101,6 +101,9 @@ class DeltaKinematics:
ey_y = matrix_mul(ey, y)
ez_z = matrix_mul(ez, z)
return matrix_add(carriage1, matrix_add(ex_x, matrix_add(ey_y, ez_z)))
def get_position(self):
spos = [s.mcu_stepper.get_commanded_position() for s in self.steppers]
return self._actuator_to_cartesian(spos)
def set_position(self, newpos):
pos = self._cartesian_to_actuator(newpos)
for i in StepList: