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delta: Add support for specifying the angle each tower is at

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Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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Kevin O'Connor
2017-06-05 14:43:16 -04:00
parent b8094de129
commit 38411fd2e7
2 changed files with 11 additions and 6 deletions
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13
klippy/delta.py
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@@ -29,12 +29,13 @@ class DeltaKinematics:
logging.info(
"Delta max build height %.2fmm (radius tapered above %.2fmm)" % (
self.max_z, self.limit_z))
sin = lambda angle: math.sin(math.radians(angle))
cos = lambda angle: math.cos(math.radians(angle))
self.towers = [
(cos(210.)*radius, sin(210.)*radius),
(cos(330.)*radius, sin(330.)*radius),
(cos(90.)*radius, sin(90.)*radius)]
# Determine tower locations in cartesian space
angles = [config.getsection('stepper_a').getfloat('angle', 210.),
config.getsection('stepper_b').getfloat('angle', 330.),
config.getsection('stepper_c').getfloat('angle', 90.)]
self.towers = [(math.cos(math.radians(angle)) * radius,
math.sin(math.radians(angle)) * radius)
for angle in angles]
# Find the point where an XY move could result in excessive
# tower movement
half_min_step_dist = min([s.step_dist for s in self.steppers]) * .5