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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/stepper.py
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@ -29,7 +29,7 @@ class MCU_stepper:
"Stepper dir pin must be on same mcu as step pin")
self._dir_pin = dir_pin_params['pin']
self._invert_dir = dir_pin_params['invert']
self._mcu_position_offset = 0.
self._mcu_position_offset = self._tag_position = 0.
self._min_stop_interval = 0.
self._reset_cmd_id = self._get_position_cmd = None
self._active_callbacks = []
@ -107,6 +107,10 @@ class MCU_stepper:
if mcu_pos >= 0.:
return int(mcu_pos + 0.5)
return int(mcu_pos - 0.5)
def get_tag_position(self):
return self._tag_position
def set_tag_position(self, position):
self._tag_position = position
def set_stepper_kinematics(self, sk):
old_sk = self._stepper_kinematics
self._stepper_kinematics = sk
@ -193,6 +197,8 @@ class PrinterRail:
self.endstops = []
self.add_extra_stepper(config)
self.get_commanded_position = self.steppers[0].get_commanded_position
self.get_tag_position = self.steppers[0].get_tag_position
self.set_tag_position = self.steppers[0].set_tag_position
# Primary endstop position
mcu_endstop = self.endstops[0][0]
if hasattr(mcu_endstop, "get_position_endstop"):