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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>
This commit is contained in:
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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9
klippy/delta.py
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@ -87,19 +87,14 @@ class DeltaKinematics:
self.set_position([0., 0., 0.], ())
def get_rails(self, flags=""):
return list(self.rails)
def _cartesian_to_actuator(self, coord):
return [math.sqrt(self.arm2[i] - (self.towers[i][0] - coord[0])**2
- (self.towers[i][1] - coord[1])**2) + coord[2]
for i in StepList]
def _actuator_to_cartesian(self, pos):
return actuator_to_cartesian(self.towers, self.arm2, pos)
def calc_position(self):
spos = [rail.get_commanded_position() for rail in self.rails]
return self._actuator_to_cartesian(spos)
def set_position(self, newpos, homing_axes):
pos = self._cartesian_to_actuator(newpos)
for i in StepList:
self.rails[i].set_position(pos[i])
for rail in self.rails:
rail.set_position(newpos)
self.limit_xy2 = -1.
if tuple(homing_axes) == StepList:
self.need_home = False