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stepper: Add get/set_tag_position() and convert calc_position()

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Rename calc_position() to calc_tag_position() and have it calculate
the value of the position from the last stepper set_tag_position()
call.  This enables the calc_tag_position() code to be more flexible
as it can be run with arbitrary positions.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2019-11-13 17:59:40 -05:00
parent e0e2f15498
commit 224574da4a
11 changed files with 56 additions and 40 deletions
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5
klippy/extras/manual_probe.py
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@ -83,7 +83,10 @@ class ManualProbeHelper:
if toolhead_pos == self.last_toolhead_pos:
return self.last_kinematics_pos
self.toolhead.get_last_move_time()
kin_pos = self.toolhead.get_kinematics().calc_position()
kin = self.toolhead.get_kinematics()
for s in kin.get_steppers():
s.set_tag_position(s.get_commanded_position())
kin_pos = kin.calc_tag_position()
self.last_toolhead_pos = toolhead_pos
self.last_kinematics_pos = kin_pos
return kin_pos