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delta: Add print_radius option to customize valid XY radius

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Add ability to override the default XY move checking radius.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2020-01-23 21:14:09 -05:00
parent 8ed0f7c5c3
commit 2ea3631222
2 changed files with 9 additions and 1 deletions
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3
klippy/kinematics/delta.py
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@@ -36,6 +36,7 @@ class DeltaKinematics:
rail.set_max_jerk(max_halt_velocity, max_halt_accel)
# Read radius and arm lengths
self.radius = radius = config.getfloat('delta_radius', above=0.)
print_radius = config.getfloat('print_radius', radius, above=0.)
arm_length_a = stepper_configs[0].getfloat('arm_length', above=radius)
self.arm_lengths = arm_lengths = [
sconfig.getfloat('arm_length', arm_length_a, above=radius)
@@ -80,7 +81,7 @@ class DeltaKinematics:
+ half_min_step_dist)
self.slow_xy2 = (ratio_to_dist(SLOW_RATIO) - radius)**2
self.very_slow_xy2 = (ratio_to_dist(2. * SLOW_RATIO) - radius)**2
self.max_xy2 = min(radius, min_arm_length - radius,
self.max_xy2 = min(print_radius, min_arm_length - radius,
ratio_to_dist(4. * SLOW_RATIO) - radius)**2
logging.info("Delta max build radius %.2fmm (moves slowed past %.2fmm"
" and %.2fmm)" % (