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plus4的klipper版本

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whb0514
2024-09-02 13:37:34 +08:00
parent 653d7a8f6e
commit b90736975b
1006 changed files with 1195894 additions and 11114 deletions
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9
klippy/kinematics/delta.py
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@@ -65,6 +65,8 @@ class DeltaKinematics:
self.min_z = config.getfloat('minimum_z_position', 0, maxval=self.max_z)
self.limit_z = min([ep - arm
for ep, arm in zip(self.abs_endstops, arm_lengths)])
self.min_arm_length = min_arm_length = min(arm_lengths)
self.min_arm2 = min_arm_length**2
logging.info(
"Delta max build height %.2fmm (radius tapered above %.2fmm)"
% (self.max_z, self.limit_z))
@@ -123,7 +125,11 @@ class DeltaKinematics:
end_z = end_pos[2]
limit_xy2 = self.max_xy2
if end_z > self.limit_z:
limit_xy2 = min(limit_xy2, (self.max_z - end_z)**2)
above_z_limit = end_z - self.limit_z
allowed_radius = self.radius - math.sqrt(
self.min_arm2 - (self.min_arm_length - above_z_limit)**2
)
limit_xy2 = min(limit_xy2, allowed_radius**2)
if end_xy2 > limit_xy2 or end_z > self.max_z or end_z < self.min_z:
# Move out of range - verify not a homing move
if (end_pos[:2] != self.home_position[:2]
@@ -150,6 +156,7 @@ class DeltaKinematics:
'homed_axes': '' if self.need_home else 'xyz',
'axis_minimum': self.axes_min,
'axis_maximum': self.axes_max,
'cone_start_z': self.limit_z,
}
def get_calibration(self):
endstops = [rail.get_homing_info().position_endstop