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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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10
klippy/corexy.py
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@ -26,12 +26,7 @@ class CoreXYKinematics:
def set_position(self, newpos):
pos = (newpos[0] + newpos[1], newpos[0] - newpos[1], newpos[2])
for i in StepList:
s = self.steppers[i]
if pos[i] >= 0.:
steppos = int(pos[i]*s.inv_step_dist + 0.5)
else:
steppos = int(pos[i]*s.inv_step_dist - 0.5)
s.mcu_stepper.set_position(steppos)
self.steppers[i].mcu_stepper.set_position(pos[i])
def home(self, homing_state):
# Each axis is homed independently and in order
for axis in homing_state.get_axes():
@ -63,8 +58,7 @@ class CoreXYKinematics:
list(coord), homepos, [s], s.homing_speed/2.0, second_home=True)
if axis == 2:
# Support endstop phase detection on Z axis
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