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itersolve: Support calculating a stepper position from a cartesian coordinate

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Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2018-07-18 11:51:28 -04:00
parent e2b4b1616f
commit cb29143939
5 changed files with 15 additions and 12 deletions
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10
klippy/mcu.py
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@ -69,11 +69,13 @@ class MCU_stepper:
return self._oid
def get_step_dist(self):
return self._step_dist
def calc_position_from_coord(self, coord):
return self._ffi_lib.itersolve_calc_position_from_coord(
self._stepper_kinematics, coord[0], coord[1], coord[2])
def set_position(self, newpos):
orig_cmd_pos = self.get_commanded_position()
self._ffi_lib.itersolve_set_position(
self._stepper_kinematics, newpos[0], newpos[1], newpos[2])
self._mcu_position_offset += orig_cmd_pos - self.get_commanded_position()
spos = self.calc_position_from_coord(newpos)
self._mcu_position_offset += self.get_commanded_position() - spos
self._ffi_lib.itersolve_set_commanded_pos(self._stepper_kinematics, spos)
def get_commanded_position(self):
return self._ffi_lib.itersolve_get_commanded_pos(
self._stepper_kinematics)