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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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4
klippy/kinematics/delta.py
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@ -92,8 +92,8 @@ class DeltaKinematics:
def _actuator_to_cartesian(self, spos):
sphere_coords = [(t[0], t[1], sp) for t, sp in zip(self.towers, spos)]
return mathutil.trilateration(sphere_coords, self.arm2)
def calc_position(self):
spos = [rail.get_commanded_position() for rail in self.rails]
def calc_tag_position(self):
spos = [rail.get_tag_position() for rail in self.rails]
return self._actuator_to_cartesian(spos)
def set_position(self, newpos, homing_axes):
for rail in self.rails: