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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/winch.py
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@ -31,9 +31,9 @@ class WinchKinematics:
self.set_position([0., 0., 0.], ())
def get_steppers(self, flags=""):
return list(self.steppers)
def calc_position(self):
def calc_tag_position(self):
# Use only first three steppers to calculate cartesian position
spos = [s.get_commanded_position() for s in self.steppers[:3]]
spos = [s.get_tag_position() for s in self.steppers[:3]]
return mathutil.trilateration(self.anchors[:3], [sp*sp for sp in spos])
def set_position(self, newpos, homing_axes):
for s in self.steppers: