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delta: Multiple steppers on delta tower (#5217) 

Updated tower rail setup to support multiple steppers per tower.

Signed-off-by: Andrei Ignat <andrei@ignat.se>
This commit is contained in:
Andrei Ignat 2022-03-01 05:14:25 +01:00 committed by GitHub
parent bbd1ddadd1
commit 682d38f590
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GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 7 additions and 5 deletions
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6
klippy/kinematics/delta.py
View File

@ -13,13 +13,13 @@ class DeltaKinematics:
def __init__(self, toolhead, config):
# Setup tower rails
stepper_configs = [config.getsection('stepper_' + a) for a in 'abc']
rail_a = stepper.PrinterRail(
rail_a = stepper.LookupMultiRail(
stepper_configs[0], need_position_minmax = False)
a_endstop = rail_a.get_homing_info().position_endstop
rail_b = stepper.PrinterRail(
rail_b = stepper.LookupMultiRail(
stepper_configs[1], need_position_minmax = False,
default_position_endstop=a_endstop)
rail_c = stepper.PrinterRail(
rail_c = stepper.LookupMultiRail(
stepper_configs[2], need_position_minmax = False,
default_position_endstop=a_endstop)
self.rails = [rail_a, rail_b, rail_c]

6
klippy/stepper.py
View File

@ -414,8 +414,10 @@ class PrinterRail:
stepper.set_position(coord)
# Wrapper for dual stepper motor support
def LookupMultiRail(config):
rail = PrinterRail(config)
def LookupMultiRail(config, need_position_minmax=True,
default_position_endstop=None, units_in_radians=False):
rail = PrinterRail(config, need_position_minmax,
default_position_endstop, units_in_radians)
for i in range(1, 99):
if not config.has_section(config.get_name() + str(i)):
break