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stepper: Query the stepper mcu position during startup

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Try to keep the host mcu_position synchronized with the
micro-controller by querying during startup and after every homing
event.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2021-04-02 12:18:05 -04:00
parent 33dcb38297
commit 24586f0c31
3 changed files with 12 additions and 8 deletions
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docs/Code_Overview.md
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@ -424,11 +424,10 @@ Recv: // gcode homing: X:0.000000 Y:0.000000 Z:0.000000
The "mcu" position (`stepper.get_mcu_position()` in the code) is the
total number of steps the micro-controller has issued in a positive
direction minus the number of steps issued in a negative direction
since the micro-controller was last reset. The value reported is only
valid after the stepper has been homed. If the robot is in motion when
the query is issued then the reported value includes moves buffered on
the micro-controller, but does not include moves on the look-ahead
queue.
since the micro-controller was last reset. If the robot is in motion
when the query is issued then the reported value includes moves
buffered on the micro-controller, but does not include moves on the
look-ahead queue.
The "stepper" position (`stepper.get_commanded_position()`) is the
position of the given stepper as tracked by the kinematics code. This