stepper: Remove set_commanded_position() call

Now that the only caller to set_commanded_position() is
set_position(), remove the set_commanded_position() method and pass
the set_position() call directly to the itersolve.c code.

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

1 files changed, 6 insertions, 12 deletions

diff --git a/klippy/stepper.py b/klippy/stepper.py
index b9be551d..4d623094 100644
--- a/klippy/stepper.py
+++ b/klippy/stepper.py
@@ -90,17 +90,14 @@ class MCU_stepper:
         return self._step_dist
     def is_dir_inverted(self):
         return self._invert_dir
-    def calc_position_from_coord(self, coord):
-        return self._ffi_lib.itersolve_calc_position_from_coord(
-            self._stepper_kinematics, coord[0], coord[1], coord[2])
     def set_position(self, coord):
-        self.set_commanded_position(self.calc_position_from_coord(coord))
+        opos = self.get_commanded_position()
+        sk = self._stepper_kinematics
+        self._ffi_lib.itersolve_set_position(sk, coord[0], coord[1], coord[2])
+        self._mcu_position_offset += opos - self.get_commanded_position()
     def get_commanded_position(self):
-        return self._ffi_lib.itersolve_get_commanded_pos(
-            self._stepper_kinematics)
-    def set_commanded_position(self, pos):
-        self._mcu_position_offset += self.get_commanded_position() - pos
-        self._ffi_lib.itersolve_set_commanded_pos(self._stepper_kinematics, pos)
+        sk = self._stepper_kinematics
+        return self._ffi_lib.itersolve_get_commanded_pos(sk)
     def get_mcu_position(self):
         mcu_pos_dist = self.get_commanded_position() + self._mcu_position_offset
         mcu_pos = mcu_pos_dist / self._step_dist
@@ -279,9 +276,6 @@ class PrinterRail:
     def set_max_jerk(self, max_halt_velocity, max_accel):
         for stepper in self.steppers:
             stepper.set_max_jerk(max_halt_velocity, max_accel)
-    def set_commanded_position(self, pos):
-        for stepper in self.steppers:
-            stepper.set_commanded_position(pos)
     def set_position(self, coord):
         for stepper in self.steppers:
             stepper.set_position(coord)