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mcu: Change mcu_stepper.set_position() to take a location in millimeters

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Update the set_position() method to convert from millimeters to
absolute step position.

Also, update PrinterStepper.get_homed_offset() and
mcu_stepper.get_commanded_position() to return millimeters.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-04-04 19:20:54 -04:00
parent 79f31238b0
commit e4153a536f
5 changed files with 16 additions and 21 deletions
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5
klippy/cartesian.py
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@ -23,8 +23,7 @@ class CartKinematics:
self.steppers[2].set_max_jerk(0., self.max_z_accel)
def set_position(self, newpos):
for i in StepList:
s = self.steppers[i]
s.mcu_stepper.set_position(int(newpos[i]*s.inv_step_dist + 0.5))
self.steppers[i].mcu_stepper.set_position(newpos[i])
def home(self, homing_state):
# Each axis is homed independently and in order
for axis in homing_state.get_axes():
@ -55,7 +54,7 @@ class CartKinematics:
homing_state.home(
list(coord), homepos, [s], s.homing_speed/2.0, second_home=True)
# Set final homed position
coord[axis] = s.position_endstop + s.get_homed_offset()*s.step_dist
coord[axis] = s.position_endstop + s.get_homed_offset()
homing_state.set_homed_position(coord)
def motor_off(self, move_time):
self.limits = [(1.0, -1.0)] * 3