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| author | Kevin O'Connor <kevin@koconnor.net> | 2019-11-13 17:59:40 -0500 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2019-11-13 19:00:17 -0500 |
| commit | 224574da4a623e3f37ebfe8082a546a9df697638 (patch) | |
| tree | 81c65dca1a785d7a18708a81ad674866f58a9d22 /klippy/kinematics/polar.py | |
| parent | e0e2f154986aa05666f3e0eea44a8c4074fa7cf7 (diff) | |
| download | kutter-224574da4a623e3f37ebfe8082a546a9df697638.tar.gz kutter-224574da4a623e3f37ebfe8082a546a9df697638.tar.xz kutter-224574da4a623e3f37ebfe8082a546a9df697638.zip | |
stepper: Add get/set_tag_position() and convert calc_position()
Rename calc_position() to calc_tag_position() and have it calculate
the value of the position from the last stepper set_tag_position()
call. This enables the calc_tag_position() code to be more flexible
as it can be run with arbitrary positions.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Diffstat (limited to 'klippy/kinematics/polar.py')
| -rw-r--r-- | klippy/kinematics/polar.py | 8 |
1 files changed, 4 insertions, 4 deletions
diff --git a/klippy/kinematics/polar.py b/klippy/kinematics/polar.py index ca2e55c7..3a043ab3 100644 --- a/klippy/kinematics/polar.py +++ b/klippy/kinematics/polar.py @@ -40,10 +40,10 @@ class PolarKinematics: if flags == "Z": return self.rails[1].get_steppers() return list(self.steppers) - def calc_position(self): - bed_angle = self.steppers[0].get_commanded_position() - arm_pos = self.rails[0].get_commanded_position() - z_pos = self.rails[1].get_commanded_position() + def calc_tag_position(self): + bed_angle = self.steppers[0].get_tag_position() + arm_pos = self.rails[0].get_tag_position() + z_pos = self.rails[1].get_tag_position() return [math.cos(bed_angle) * arm_pos, math.sin(bed_angle) * arm_pos, z_pos] def set_position(self, newpos, homing_axes): |