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delta: Default stepper_b/c position_endstop to stepper_a's

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If the position_endstop is not set for stepper_b or stepper_c then use
the value from stepper_a.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2017-11-01 21:21:37 -04:00
parent bc5d900e61
commit f8acf0f54f
3 changed files with 20 additions and 7 deletions
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10
klippy/delta.py
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@@ -15,8 +15,14 @@ class DeltaKinematics:
def __init__(self, toolhead, printer, config):
stepper_configs = [config.getsection('stepper_' + n)
for n in ['a', 'b', 'c']]
self.steppers = [stepper.PrinterHomingStepper(printer, sconfig)
for sconfig in stepper_configs]
stepper_a = stepper.PrinterHomingStepper(printer, stepper_configs[0])
stepper_b = stepper.PrinterHomingStepper(
printer, stepper_configs[1],
default_position=stepper_a.position_endstop)
stepper_c = stepper.PrinterHomingStepper(
printer, stepper_configs[2],
default_position=stepper_a.position_endstop)
self.steppers = [stepper_a, stepper_b, stepper_c]
self.need_motor_enable = self.need_home = True
radius = config.getfloat('delta_radius', above=0.)
arm_length_a = stepper_configs[0].getfloat('arm_length', above=radius)

8
klippy/stepper.py
View File

@@ -51,13 +51,17 @@ class PrinterStepper:
# Support for stepper controlled linear axis with an endstop
class PrinterHomingStepper(PrinterStepper):
def __init__(self, printer, config):
def __init__(self, printer, config, default_position=None):
PrinterStepper.__init__(self, printer, config)
# Endstop and its position
self.mcu_endstop = pins.setup_pin(
printer, 'endstop', config.get('endstop_pin'))
self.mcu_endstop.add_stepper(self.mcu_stepper)
self.position_endstop = config.getfloat('position_endstop')
if default_position is None:
self.position_endstop = config.getfloat('position_endstop')
else:
self.position_endstop = config.getfloat(
'position_endstop', default_position)
# Axis range
self.position_min = config.getfloat('position_min', 0.)
self.position_max = config.getfloat(