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Diffstat (limited to 'klippy/kinematics/winch.py')
| -rw-r--r-- | klippy/kinematics/winch.py | 6 |
1 files changed, 3 insertions, 3 deletions
diff --git a/klippy/kinematics/winch.py b/klippy/kinematics/winch.py index 58737b58..11475d24 100644 --- a/klippy/kinematics/winch.py +++ b/klippy/kinematics/winch.py @@ -29,10 +29,10 @@ class WinchKinematics: self.set_position([0., 0., 0.], ()) def get_steppers(self): return list(self.steppers) - def calc_tag_position(self): + def calc_position(self, stepper_positions): # Use only first three steppers to calculate cartesian position - spos = [s.get_tag_position() for s in self.steppers[:3]] - return mathutil.trilateration(self.anchors[:3], [sp*sp for sp in spos]) + pos = [stepper_positions[rail.get_name()] for rail in self.steppers[:3]] + return mathutil.trilateration(self.anchors[:3], [sp*sp for sp in pos]) def set_position(self, newpos, homing_axes): for s in self.steppers: s.set_position(newpos) |