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itersolve: Support setting the stepper position via a cartesian coordinate

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Add support for an itersolve_set_position() function that sets a
stepper position from a cartesian coordinate.  This eliminates the
need for both the python and C code to be able to translate from a
cartesian coordinate to a stepper position.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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Kevin O'Connor 2018-06-22 13:03:07 -04:00
parent 0216201cb6
commit 890298d34d
9 changed files with 34 additions and 29 deletions
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16
docs/Code_Overview.md
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@ -319,19 +319,15 @@ Useful steps:
seconds) to a cartesian coordinate (in millimeters), and then
calculate the desired stepper position (in millimeters) from that
cartesian coordinate.
4. Implement the `set_position()` method in the python code. This also
calculates the desired stepper positions given a cartesian
coordinate.
5. Implement the `calc_position()` method in the new kinematics class.
4. Implement the `calc_position()` method in the new kinematics class.
This method is the inverse of set_position(). It does not need to
be efficient as it is typically only called during homing and
probing operations.
6. Implement the `move()` method. This method generally invokes the
iterative solver for each stepper.
7. Other methods. The `home()`, `check_move()`, and other methods
should also be implemented. However, at the start of development
one can use empty code here.
8. Implement test cases. Create a g-code file with a series of moves
5. Other methods. The `move()`, `home()`, `check_move()`, and other
methods should also be implemented. These functions are typically
used to provide kinematic specific checks. However, at the start of
development one can use boiler-plate code here.
6. Implement test cases. Create a g-code file with a series of moves
that can test important cases for the given kinematics. Follow the
[debugging documentation](Debugging.md) to convert this g-code file
to micro-controller commands. This is useful to exercise corner