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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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30
klippy/gcode.py
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@ -690,11 +690,12 @@ class GCodeParser:
steppers = kin.get_steppers()
mcu_pos = " ".join(["%s:%d" % (s.get_name(), s.get_mcu_position())
for s in steppers])
stepper_pos = " ".join(
["%s:%.6f" % (s.get_name(), s.get_commanded_position())
for s in steppers])
kinematic_pos = " ".join(["%s:%.6f" % (a, v)
for a, v in zip("XYZE", kin.calc_position())])
for s in steppers:
s.set_tag_position(s.get_commanded_position())
stepper_pos = " ".join(["%s:%.6f" % (s.get_name(), s.get_tag_position())
for s in steppers])
kin_pos = " ".join(["%s:%.6f" % (a, v)
for a, v in zip("XYZ", kin.calc_tag_position())])
toolhead_pos = " ".join(["%s:%.6f" % (a, v) for a, v in zip(
"XYZE", self.toolhead.get_position())])
gcode_pos = " ".join(["%s:%.6f" % (a, v)
@ -703,16 +704,15 @@ class GCodeParser:
for a, v in zip("XYZE", self.base_position)])
homing_pos = " ".join(["%s:%.6f" % (a, v)
for a, v in zip("XYZ", self.homing_position)])
self.respond_info(
"mcu: %s\n"
"stepper: %s\n"
"kinematic: %s\n"
"toolhead: %s\n"
"gcode: %s\n"
"gcode base: %s\n"
"gcode homing: %s" % (
mcu_pos, stepper_pos, kinematic_pos, toolhead_pos,
gcode_pos, base_pos, homing_pos))
self.respond_info("mcu: %s\n"
"stepper: %s\n"
"kinematic: %s\n"
"toolhead: %s\n"
"gcode: %s\n"
"gcode base: %s\n"
"gcode homing: %s"
% (mcu_pos, stepper_pos, kin_pos, toolhead_pos,
gcode_pos, base_pos, homing_pos))
def request_restart(self, result):
if self.is_printer_ready:
print_time = self.toolhead.get_last_move_time()