コード例 #1
0
        void _home_axis(Homing homing_state, int axis, PrinterRail rail)
        {
            // Determine movement
            var _tup_1       = rail.get_range();
            var position_min = _tup_1.X;
            var position_max = _tup_1.Y;
            var hi           = rail.get_homing_info();
            var homepos      = new List <double?> {
                null, null, null, null
            };

            homepos[axis] = hi.position_endstop;
            if (axis == 0)
            {
                homepos[1] = 0.0;
            }
            var forcepos = homepos.ToList();

            if (hi.positive_dir ?? false)
            {
                forcepos[axis] -= hi.position_endstop - position_min;
            }
            else
            {
                forcepos[axis] += position_max - hi.position_endstop;
            }
            // Perform homing
            double?limit_speed = null;

            if (axis == 2)
            {
                limit_speed = this.max_z_velocity;
            }
            homing_state.home_rails(new List <PrinterRail> {
                rail
            },
                                    (forcepos[0], forcepos[1], forcepos[2], forcepos[3]),
                                    (homepos[0], homepos[1], homepos[2], homepos[3]),
                                    limit_speed);
        }
コード例 #2
0
ファイル: KinematicCoreXY.cs プロジェクト: Benkei/klipper
 public override void home(Homing homing_state)
 {
     // Each axis is homed independently and in order
     foreach (var axis in homing_state.get_axes())
     {
         var rail = this.rails[axis];
         // Determine movement
         var _tup_1       = rail.get_range();
         var position_min = _tup_1.X;
         var position_max = _tup_1.Y;
         var hi           = rail.get_homing_info();
         var homepos      = new List <double?> {
             null, null, null, null
         };
         homepos[axis] = hi.position_endstop;
         var forcepos = homepos.ToList();
         if ((bool)hi.positive_dir)
         {
             forcepos[axis] -= 1.5 * (hi.position_endstop - position_min);
         }
         else
         {
             forcepos[axis] += 1.5 * (position_max - hi.position_endstop);
         }
         // Perform homing
         double?limit_speed = null;
         if (axis == 2)
         {
             limit_speed = this.max_z_velocity;
         }
         homing_state.home_rails(new List <PrinterRail> {
             rail
         },
                                 (forcepos[0], forcepos[1], forcepos[2], forcepos[3]),
                                 (homepos[0], homepos[1], homepos[2], homepos[3]),
                                 limit_speed);
     }
 }