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| author | Kevin O'Connor <kevin@koconnor.net> | 2017-04-04 19:20:54 -0400 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2017-04-07 13:44:17 -0400 |
| commit | e4153a536fe10671abc248d9e34347fbaccb2ec3 (patch) | |
| tree | 7893e6ea92127e6a4ed07ac21a6f6c708bcec3ba /klippy/corexy.py | |
| parent | 79f31238b047eeacc2321625e642421a86c62e68 (diff) | |
| download | kutter-e4153a536fe10671abc248d9e34347fbaccb2ec3.tar.gz kutter-e4153a536fe10671abc248d9e34347fbaccb2ec3.tar.xz kutter-e4153a536fe10671abc248d9e34347fbaccb2ec3.zip | |
mcu: Change mcu_stepper.set_position() to take a location in millimeters
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>
Diffstat (limited to 'klippy/corexy.py')
| -rw-r--r-- | klippy/corexy.py | 10 |
1 files changed, 2 insertions, 8 deletions
diff --git a/klippy/corexy.py b/klippy/corexy.py index e9454a2c..b724a4e1 100644 --- a/klippy/corexy.py +++ b/klippy/corexy.py @@ -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 |