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Diffstat (limited to 'docs/Code_Overview.md')
| -rw-r--r-- | docs/Code_Overview.md | 9 |
1 files changed, 4 insertions, 5 deletions
diff --git a/docs/Code_Overview.md b/docs/Code_Overview.md index 2e9dcf04..f6a73247 100644 --- a/docs/Code_Overview.md +++ b/docs/Code_Overview.md @@ -424,11 +424,10 @@ Recv: // gcode homing: X:0.000000 Y:0.000000 Z:0.000000 The "mcu" position (`stepper.get_mcu_position()` in the code) is the total number of steps the micro-controller has issued in a positive direction minus the number of steps issued in a negative direction -since the micro-controller was last reset. The value reported is only -valid after the stepper has been homed. If the robot is in motion when -the query is issued then the reported value includes moves buffered on -the micro-controller, but does not include moves on the look-ahead -queue. +since the micro-controller was last reset. If the robot is in motion +when the query is issued then the reported value includes moves +buffered on the micro-controller, but does not include moves on the +look-ahead queue. The "stepper" position (`stepper.get_commanded_position()`) is the position of the given stepper as tracked by the kinematics code. This |