stepper: Remove set_tag_position() code

Have callers store the stepper positions in a dict.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

10 files changed, 22 insertions, 22 deletions

diff --git a/klippy/kinematics/cartesian.py b/klippy/kinematics/cartesian.py
index e2c21900..6c44c120 100644
--- a/klippy/kinematics/cartesian.py
+++ b/klippy/kinematics/cartesian.py
@@ -51,8 +51,8 @@ class CartKinematics:
             dca = self.dual_carriage_axis
             rails = rails[:dca] + self.dual_carriage_rails + rails[dca+1:]
         return [s for rail in rails for s in rail.get_steppers()]
-    def calc_tag_position(self):
-        return [rail.get_tag_position() for rail in self.rails]
+    def calc_position(self, stepper_positions):
+        return [stepper_positions[rail.get_name()] for rail in self.rails]
     def set_position(self, newpos, homing_axes):
         for i, rail in enumerate(self.rails):
             rail.set_position(newpos)
diff --git a/klippy/kinematics/corexy.py b/klippy/kinematics/corexy.py
index 451a88aa..33f5fcf5 100644
--- a/klippy/kinematics/corexy.py
+++ b/klippy/kinematics/corexy.py
@@ -36,8 +36,8 @@ class CoreXYKinematics:
         self.axes_max = toolhead.Coord(*[r[1] for r in ranges], e=0.)
     def get_steppers(self):
         return [s for rail in self.rails for s in rail.get_steppers()]
-    def calc_tag_position(self):
-        pos = [rail.get_tag_position() for rail in self.rails]
+    def calc_position(self, stepper_positions):
+        pos = [stepper_positions[rail.get_name()] for rail in self.rails]
         return [0.5 * (pos[0] + pos[1]), 0.5 * (pos[0] - pos[1]), pos[2]]
     def set_position(self, newpos, homing_axes):
         for i, rail in enumerate(self.rails):
diff --git a/klippy/kinematics/corexz.py b/klippy/kinematics/corexz.py
index 698e4c08..dbd5c372 100644
--- a/klippy/kinematics/corexz.py
+++ b/klippy/kinematics/corexz.py
@@ -36,8 +36,8 @@ class CoreXZKinematics:
         self.axes_max = toolhead.Coord(*[r[1] for r in ranges], e=0.)
     def get_steppers(self):
         return [s for rail in self.rails for s in rail.get_steppers()]
-    def calc_tag_position(self):
-        pos = [rail.get_tag_position() for rail in self.rails]
+    def calc_position(self, stepper_positions):
+        pos = [stepper_positions[rail.get_name()] for rail in self.rails]
         return [0.5 * (pos[0] + pos[2]), pos[1], 0.5 * (pos[0] - pos[2])]
     def set_position(self, newpos, homing_axes):
         for i, rail in enumerate(self.rails):
diff --git a/klippy/kinematics/delta.py b/klippy/kinematics/delta.py
index 0d17ed19..104d2122 100644
--- a/klippy/kinematics/delta.py
+++ b/klippy/kinematics/delta.py
@@ -92,8 +92,8 @@ class DeltaKinematics:
     def _actuator_to_cartesian(self, spos):
         sphere_coords = [(t[0], t[1], sp) for t, sp in zip(self.towers, spos)]
         return mathutil.trilateration(sphere_coords, self.arm2)
-    def calc_tag_position(self):
-        spos = [rail.get_tag_position() for rail in self.rails]
+    def calc_position(self, stepper_positions):
+        spos = [stepper_positions[rail.get_name()] for rail in self.rails]
         return self._actuator_to_cartesian(spos)
     def set_position(self, newpos, homing_axes):
         for rail in self.rails:
diff --git a/klippy/kinematics/hybrid_corexy.py b/klippy/kinematics/hybrid_corexy.py
index 74657e25..43cf7dd9 100644
--- a/klippy/kinematics/hybrid_corexy.py
+++ b/klippy/kinematics/hybrid_corexy.py
@@ -37,8 +37,8 @@ class HybridCoreXYKinematics:
         self.limits = [(1.0, -1.0)] * 3
     def get_steppers(self):
         return [s for rail in self.rails for s in rail.get_steppers()]
-    def calc_tag_position(self):
-        pos = [rail.get_tag_position() for rail in self.rails]
+    def calc_position(self, stepper_positions):
+        pos = [stepper_positions[rail.get_name()] for rail in self.rails]
         return [pos[0] + pos[1], pos[1], pos[2]]
     def set_position(self, newpos, homing_axes):
         for i, rail in enumerate(self.rails):
diff --git a/klippy/kinematics/hybrid_corexz.py b/klippy/kinematics/hybrid_corexz.py
index 85f81ce9..47aa430e 100644
--- a/klippy/kinematics/hybrid_corexz.py
+++ b/klippy/kinematics/hybrid_corexz.py
@@ -37,8 +37,8 @@ class HybridCoreXZKinematics:
         self.limits = [(1.0, -1.0)] * 3
     def get_steppers(self):
         return [s for rail in self.rails for s in rail.get_steppers()]
-    def calc_tag_position(self):
-        pos = [rail.get_tag_position() for rail in self.rails]
+    def calc_position(self, stepper_positions):
+        pos = [stepper_positions[rail.get_name()] for rail in self.rails]
         return [pos[0] + pos[2], pos[1], pos[2]]
     def set_position(self, newpos, homing_axes):
         for i, rail in enumerate(self.rails):
diff --git a/klippy/kinematics/none.py b/klippy/kinematics/none.py
index fdc3d4c4..ff3c57a9 100644
--- a/klippy/kinematics/none.py
+++ b/klippy/kinematics/none.py
@@ -9,7 +9,7 @@ class NoneKinematics:
         self.axes_minmax = toolhead.Coord(0., 0., 0., 0.)
     def get_steppers(self):
         return []
-    def calc_tag_position(self):
+    def calc_position(self, stepper_positions):
         return [0, 0, 0]
     def set_position(self, newpos, homing_axes):
         pass
diff --git a/klippy/kinematics/polar.py b/klippy/kinematics/polar.py
index baa3a11c..ef8c0d97 100644
--- a/klippy/kinematics/polar.py
+++ b/klippy/kinematics/polar.py
@@ -38,10 +38,10 @@ class PolarKinematics:
         self.axes_max = toolhead.Coord(max_xy, max_xy, max_z, 0.)
     def get_steppers(self):
         return list(self.steppers)
-    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()
+    def calc_position(self, stepper_positions):
+        bed_angle = stepper_positions[self.steppers[0].get_name()]
+        arm_pos = stepper_positions[self.rails[0].get_name()]
+        z_pos = stepper_positions[self.rails[1].get_name()]
         return [math.cos(bed_angle) * arm_pos, math.sin(bed_angle) * arm_pos,
                 z_pos]
     def set_position(self, newpos, homing_axes):
diff --git a/klippy/kinematics/rotary_delta.py b/klippy/kinematics/rotary_delta.py
index f61ed34a..1eb050ba 100644
--- a/klippy/kinematics/rotary_delta.py
+++ b/klippy/kinematics/rotary_delta.py
@@ -79,8 +79,8 @@ class RotaryDeltaKinematics:
         self.set_position([0., 0., 0.], ())
     def get_steppers(self):
         return [s for rail in self.rails for s in rail.get_steppers()]
-    def calc_tag_position(self):
-        spos = [rail.get_tag_position() for rail in self.rails]
+    def calc_position(self, stepper_positions):
+        spos = [stepper_positions[rail.get_name()] for rail in self.rails]
         return self.calibration.actuator_to_cartesian(spos)
     def set_position(self, newpos, homing_axes):
         for rail in self.rails:
diff --git a/klippy/kinematics/winch.py b/klippy/kinematics/winch.py
index 58737b58..11475d24 100644
--- a/klippy/kinematics/winch.py
+++ b/klippy/kinematics/winch.py
@@ -29,10 +29,10 @@ class WinchKinematics:
         self.set_position([0., 0., 0.], ())
     def get_steppers(self):
         return list(self.steppers)
-    def calc_tag_position(self):
+    def calc_position(self, stepper_positions):
         # Use only first three steppers to calculate cartesian position
-        spos = [s.get_tag_position() for s in self.steppers[:3]]
-        return mathutil.trilateration(self.anchors[:3], [sp*sp for sp in spos])
+        pos = [stepper_positions[rail.get_name()] for rail in self.steppers[:3]]
+        return mathutil.trilateration(self.anchors[:3], [sp*sp for sp in pos])
     def set_position(self, newpos, homing_axes):
         for s in self.steppers:
             s.set_position(newpos)