Ender

Ender(
    port: str,
    limits: Sequence[Sequence[float]] = (
        (0, 0, 0),
        (0, 0, 0),
    ),
    *,
    robot_position: Position = Position(),
    home_position: Position = Position(),
    tool_offset: Position = Position(),
    calibrated_offset: Position = Position(),
    scale: float = 1.0,
    deck: Deck | None = None,
    safe_height: float | None = None,
    saved_positions: dict | None = None,
    speed_max: float | None = None,
    device_type_name: str = "Marlin",
    baudrate: int = 115200,
    movement_buffer: int | None = None,
    movement_timeout: int | None = None,
    verbose: bool = False,
    simulation: bool = False,
    **kwargs,
)

Bases: Gantry, HeaterMixin

Initialize Gantry class

PARAMETER	DESCRIPTION
`port`	serial port address TYPE: `str`
`limits`	lower and upper limits of gantry, in terms of robot coordinate system. Defaults to ((0, 0, 0), (0, 0, 0)). TYPE: `Sequence[Sequence[float]]` DEFAULT: `((0, 0, 0), (0, 0, 0))`
`robot_position`	current position of the robot. Defaults to Position(). TYPE: `Position` DEFAULT: `Position()`
`home_position`	home position of the robot in terms of robot coordinate system. Defaults to Position(). TYPE: `Position` DEFAULT: `Position()`
`tool_offset`	tool offset from robot to end effector. Defaults to Position(). TYPE: `Position` DEFAULT: `Position()`
`calibrated_offset`	calibrated offset from robot to work position. Defaults to Position(). TYPE: `Position` DEFAULT: `Position()`
`scale`	factor to scale the basis vectors by. Defaults to 1.0. TYPE: `float` DEFAULT: `1.0`
`deck`	Deck object for workspace. Defaults to None. TYPE: `Deck` DEFAULT: `None`
`safe_height`	safe height in terms of robot coordinate system. Defaults to None. TYPE: `float` DEFAULT: `None`
`saved_positions`	dictionary of saved positions. Defaults to dict(). TYPE: `dict` DEFAULT: `None`
`speed_max`	maximum speed of robot in mm/min. Defaults to None. TYPE: `float` DEFAULT: `None`
`device_type_name`	name of the device type. Defaults to 'GRBL'. TYPE: `str` DEFAULT: `'Marlin'`
`baudrate`	baudrate. Defaults to 115200. TYPE: `int` DEFAULT: `115200`
`movement_buffer`	buffer for movement. Defaults to None. TYPE: `Optional[int]` DEFAULT: `None`
`movement_timeout`	timeout for movement. Defaults to None. TYPE: `Optional[int]` DEFAULT: `None`
`verbose`	verbosity of class. Defaults to False. TYPE: `bool` DEFAULT: `False`
`simulation`	whether to simulate. Defaults to False. TYPE: `bool` DEFAULT: `False`