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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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8
klippy/kinematics/polar.py
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@ -40,10 +40,10 @@ class PolarKinematics:
if flags == "Z":
return self.rails[1].get_steppers()
return list(self.steppers)
def calc_position(self):
bed_angle = self.steppers[0].get_commanded_position()
arm_pos = self.rails[0].get_commanded_position()
z_pos = self.rails[1].get_commanded_position()
def calc_tag_position(self):
bed_angle = self.steppers[0].get_tag_position()
arm_pos = self.rails[0].get_tag_position()
z_pos = self.rails[1].get_tag_position()
return [math.cos(bed_angle) * arm_pos, math.sin(bed_angle) * arm_pos,
z_pos]
def set_position(self, newpos, homing_axes):