itersolve: Support setting the stepper position via a cartesian coordinate

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>

1 files changed, 10 insertions, 0 deletions

diff --git a/klippy/chelper/itersolve.c b/klippy/chelper/itersolve.c
index c9ce9b8f..2bd27ac6 100644
--- a/klippy/chelper/itersolve.c
+++ b/klippy/chelper/itersolve.c
@@ -216,6 +216,16 @@ itersolve_set_stepcompress(struct stepper_kinematics *sk
 }
 
 void __visible
+itersolve_set_position(struct stepper_kinematics *sk
+                       , double x, double y, double z)
+{
+    struct move m;
+    memset(&m, 0, sizeof(m));
+    move_fill(&m, 0., 0., 1., 0., x, y, z, 0., 1., 0., 0., 1., 0.);
+    sk->commanded_pos = sk->calc_position(sk, &m, 0.);
+}
+
+void __visible
 itersolve_set_commanded_pos(struct stepper_kinematics *sk, double pos)
 {
     sk->commanded_pos = pos;