diff options
Diffstat (limited to 'docs')
| -rw-r--r-- | docs/Code_Overview.md | 21 |
1 files changed, 10 insertions, 11 deletions
diff --git a/docs/Code_Overview.md b/docs/Code_Overview.md index 167b7c18..2b35688f 100644 --- a/docs/Code_Overview.md +++ b/docs/Code_Overview.md @@ -447,17 +447,16 @@ but does not include moves on the look-ahead queue. One may use the `toolhead.flush_step_generation()` or `toolhead.wait_moves()` calls to fully flush the look-ahead and step generation code. -The "kinematic" position (`stepper.set_tag_position()` and -`kin.calc_tag_position()`) is the cartesian position of the toolhead -as derived from the "stepper" position and is relative to the -coordinate system specified in the config file. This may differ from -the requested cartesian position due to the granularity of the stepper -motors. If the robot is in motion when `stepper.set_tag_position()` is -issued then the reported value includes moves buffered on the -micro-controller, but does not include moves on the look-ahead -queue. One may use the `toolhead.flush_step_generation()` or -`toolhead.wait_moves()` calls to fully flush the look-ahead and step -generation code. +The "kinematic" position (`kin.calc_position()`) is the cartesian +position of the toolhead as derived from "stepper" positions and is +relative to the coordinate system specified in the config file. This +may differ from the requested cartesian position due to the +granularity of the stepper motors. If the robot is in motion when the +"stepper" positions are taken then the reported value includes moves +buffered on the micro-controller, but does not include moves on the +look-ahead queue. One may use the `toolhead.flush_step_generation()` +or `toolhead.wait_moves()` calls to fully flush the look-ahead and +step generation code. The "toolhead" position (`toolhead.get_position()`) is the last requested position of the toolhead in cartesian coordinates relative |