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| author | Kevin O'Connor <kevin@koconnor.net> | 2019-11-19 12:27:33 -0500 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2020-01-06 11:49:41 -0500 |
| commit | e43ad4c9539b5d5d69a2627187400a3c6f9ff787 (patch) | |
| tree | f41d25d5a9cf7272ff5f45b9757400b78bb3d732 /klippy | |
| parent | 97d976fc53f897ad57db963078bcbf5018d34968 (diff) | |
| download | kutter-e43ad4c9539b5d5d69a2627187400a3c6f9ff787.tar.gz kutter-e43ad4c9539b5d5d69a2627187400a3c6f9ff787.tar.xz kutter-e43ad4c9539b5d5d69a2627187400a3c6f9ff787.zip | |
itersolve: Export itersolve_calc_position_from_coord()
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Diffstat (limited to 'klippy')
| -rw-r--r-- | klippy/chelper/__init__.py | 2 | ||||
| -rw-r--r-- | klippy/chelper/itersolve.c | 2 | ||||
| -rw-r--r-- | klippy/chelper/itersolve.h | 2 | ||||
| -rw-r--r-- | klippy/stepper.py | 11 |
4 files changed, 13 insertions, 4 deletions
diff --git a/klippy/chelper/__init__.py b/klippy/chelper/__init__.py index 91114216..b76a795a 100644 --- a/klippy/chelper/__init__.py +++ b/klippy/chelper/__init__.py @@ -51,6 +51,8 @@ defs_itersolve = """ void itersolve_set_trapq(struct stepper_kinematics *sk, struct trapq *tq); void itersolve_set_stepcompress(struct stepper_kinematics *sk , struct stepcompress *sc, double step_dist); + double itersolve_calc_position_from_coord(struct stepper_kinematics *sk + , double x, double y, double z); void itersolve_set_position(struct stepper_kinematics *sk , double x, double y, double z); double itersolve_get_commanded_pos(struct stepper_kinematics *sk); diff --git a/klippy/chelper/itersolve.c b/klippy/chelper/itersolve.c index ee0571ee..1f30bcae 100644 --- a/klippy/chelper/itersolve.c +++ b/klippy/chelper/itersolve.c @@ -226,7 +226,7 @@ itersolve_set_stepcompress(struct stepper_kinematics *sk sk->step_dist = step_dist; } -static double +double __visible itersolve_calc_position_from_coord(struct stepper_kinematics *sk , double x, double y, double z) { diff --git a/klippy/chelper/itersolve.h b/klippy/chelper/itersolve.h index c4061396..87dad7a9 100644 --- a/klippy/chelper/itersolve.h +++ b/klippy/chelper/itersolve.h @@ -31,6 +31,8 @@ double itersolve_check_active(struct stepper_kinematics *sk, double flush_time); void itersolve_set_trapq(struct stepper_kinematics *sk, struct trapq *tq); void itersolve_set_stepcompress(struct stepper_kinematics *sk , struct stepcompress *sc, double step_dist); +double itersolve_calc_position_from_coord(struct stepper_kinematics *sk + , double x, double y, double z); void itersolve_set_position(struct stepper_kinematics *sk , double x, double y, double z); double itersolve_get_commanded_pos(struct stepper_kinematics *sk); diff --git a/klippy/stepper.py b/klippy/stepper.py index 1f7a58f7..cf7effd7 100644 --- a/klippy/stepper.py +++ b/klippy/stepper.py @@ -95,6 +95,9 @@ 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): opos = self.get_commanded_position() sk = self._stepper_kinematics @@ -199,9 +202,11 @@ class PrinterRail: self.steppers = [] self.endstops = [] self.add_extra_stepper(config) - self.get_commanded_position = self.steppers[0].get_commanded_position - self.get_tag_position = self.steppers[0].get_tag_position - self.set_tag_position = self.steppers[0].set_tag_position + mcu_stepper = self.steppers[0] + self.get_commanded_position = mcu_stepper.get_commanded_position + self.get_tag_position = mcu_stepper.get_tag_position + self.set_tag_position = mcu_stepper.set_tag_position + self.calc_position_from_coord = mcu_stepper.calc_position_from_coord # Primary endstop position mcu_endstop = self.endstops[0][0] if hasattr(mcu_endstop, "get_position_endstop"): |