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stepper: Add get/set_tag_position() and convert calc_position()
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>
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e0e2f15498
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11 changed files with 56 additions and 40 deletions
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@ -53,8 +53,8 @@ class CartKinematics:
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if flags == "Z":
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return self.rails[2].get_steppers()
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return [s for rail in self.rails for s in rail.get_steppers()]
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def calc_position(self):
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return [rail.get_commanded_position() for rail in self.rails]
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def calc_tag_position(self):
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return [rail.get_tag_position() for rail in self.rails]
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def set_position(self, newpos, homing_axes):
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for i, rail in enumerate(self.rails):
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rail.set_position(newpos)
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@ -125,8 +125,9 @@ class CartKinematics:
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self.rails[dc_axis].set_trapq(None)
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dc_rail.set_trapq(toolhead.get_trapq())
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self.rails[dc_axis] = dc_rail
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extruder_pos = toolhead.get_position()[3]
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toolhead.set_position(self.calc_position() + [extruder_pos])
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pos = toolhead.get_position()
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pos[dc_axis] = dc_rail.get_commanded_position()
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toolhead.set_position(pos)
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if self.limits[dc_axis][0] <= self.limits[dc_axis][1]:
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self.limits[dc_axis] = dc_rail.get_range()
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cmd_SET_DUAL_CARRIAGE_help = "Set which carriage is active"
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