diff options
Diffstat (limited to 'klippy/corexy.py')
| -rw-r--r-- | klippy/corexy.py | 7 |
1 files changed, 6 insertions, 1 deletions
diff --git a/klippy/corexy.py b/klippy/corexy.py index 8ace928e..4b52f949 100644 --- a/klippy/corexy.py +++ b/klippy/corexy.py @@ -33,8 +33,13 @@ class CoreXYKinematics: self.steppers[1].set_max_jerk(max_xy_halt_velocity, max_accel) self.steppers[2].set_max_jerk( min(max_halt_velocity, self.max_z_velocity), self.max_z_accel) - def get_steppers(self): + def get_steppers(self, flags=""): + if flags == "Z": + return [self.steppers[2]] return list(self.steppers) + def get_position(self): + pos = [s.mcu_stepper.get_commanded_position() for s in self.steppers] + return [0.5 * (pos[0] + pos[1]), 0.5 * (pos[0] - pos[1]), pos[2]] def set_position(self, newpos): pos = (newpos[0] + newpos[1], newpos[0] - newpos[1], newpos[2]) for i in StepList: |