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polar: Implement bed angle wrapping adjustments in chelper code

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Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2019-10-27 11:14:40 -04:00
parent 92993c062b
commit 374eb98765
4 changed files with 19 additions and 10 deletions
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9
klippy/kinematics/polar.py
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@ -120,14 +120,7 @@ class PolarKinematics:
cmove = move.cmove
if axes_d[0] or axes_d[1]:
self.rails[0].step_itersolve(cmove)
stepper_bed = self.steppers[0]
stepper_bed.step_itersolve(cmove)
# Normalize the stepper_bed angle
angle = stepper_bed.get_commanded_position()
if angle < -math.pi:
stepper_bed.set_commanded_position(angle + 2. * math.pi)
elif angle > math.pi:
stepper_bed.set_commanded_position(angle - 2. * math.pi)
self.steppers[0].step_itersolve(cmove)
if axes_d[2]:
self.rails[1].step_itersolve(cmove)
def get_status(self):