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, 5 insertions, 3 deletions

diff --git a/klippy/mcu.py b/klippy/mcu.py
index 1969ff82..8d7e86cb 100644
--- a/klippy/mcu.py
+++ b/klippy/mcu.py
@@ -71,9 +71,11 @@ class MCU_stepper:
         return self._oid
     def get_step_dist(self):
         return self._step_dist
-    def set_position(self, pos):
-        self._mcu_position_offset += self.get_commanded_position() - pos
-        self._ffi_lib.itersolve_set_commanded_pos(self._stepper_kinematics, pos)
+    def set_position(self, newpos):
+        orig_cmd_pos = self.get_commanded_position()
+        self._ffi_lib.itersolve_set_position(
+            self._stepper_kinematics, newpos[0], newpos[1], newpos[2])
+        self._mcu_position_offset += orig_cmd_pos - self.get_commanded_position()
     def get_commanded_position(self):
         return self._ffi_lib.itersolve_get_commanded_pos(
             self._stepper_kinematics)