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kinematics: report all axis limits (min/max)

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Signed-off-by: Janar Sööt <janar.soot@gmail.com>
This commit is contained in:
Janar Sööt
2020-12-28 00:37:32 +02:00
committed by KevinOConnor
parent a5ebe5825a
commit e68cf08d15
9 changed files with 81 additions and 15 deletions
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13
klippy/kinematics/winch.py
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@@ -3,7 +3,7 @@
# Copyright (C) 2018-2019 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import stepper, mathutil
import stepper, mathutil, homing
class WinchKinematics:
def __init__(self, toolhead, config):
@@ -47,7 +47,16 @@ class WinchKinematics:
pass
def get_status(self, eventtime):
# XXX - homed_checks and rail limits not implemented
return {'homed_axes': 'xyz'}
axes_min = [0.0, 0.0, 0.0, 0.0]
axes_max = [0.0, 0.0, 0.0, 0.0]
for pos, axis in enumerate('xyz'):
axes_min[pos] = min([a[pos] for a in self.anchors])
axes_max[pos] = max([a[pos] for a in self.anchors])
return {
'homed_axes': 'xyz',
'axis_minimum': homing.Coord(*axes_min),
'axis_maximum': homing.Coord(*axes_max)
}
def load_kinematics(toolhead, config):
return WinchKinematics(toolhead, config)