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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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11
klippy/homing.py
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@ -67,8 +67,10 @@ class Homing:
if error is None:
error = "Failed to home %s: %s" % (name, str(e))
if probe_pos:
self.set_homed_position(
list(self.toolhead.get_kinematics().calc_position()) + [None])
kin = self.toolhead.get_kinematics()
for s in kin.get_steppers():
s.set_tag_position(s.get_commanded_position())
self.set_homed_position(kin.calc_tag_position())
else:
self.toolhead.set_position(movepos)
for mcu_endstop, name in endstops:
@ -116,7 +118,10 @@ class Homing:
ret = self.printer.send_event("homing:homed_rails", self, rails)
if any(ret):
# Apply any homing offsets
adjustpos = 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())
adjustpos = kin.calc_tag_position()
for axis in homing_axes:
movepos[axis] = adjustpos[axis]
self.toolhead.set_position(movepos)