diff options
Diffstat (limited to 'klippy/kinematics')
| -rw-r--r-- | klippy/kinematics/cartesian.py | 9 | ||||
| -rw-r--r-- | klippy/kinematics/corexy.py | 4 | ||||
| -rw-r--r-- | klippy/kinematics/delta.py | 4 | ||||
| -rw-r--r-- | klippy/kinematics/none.py | 2 | ||||
| -rw-r--r-- | klippy/kinematics/polar.py | 8 | ||||
| -rw-r--r-- | klippy/kinematics/winch.py | 4 |
6 files changed, 16 insertions, 15 deletions
diff --git a/klippy/kinematics/cartesian.py b/klippy/kinematics/cartesian.py index f8c50bb9..671914d5 100644 --- a/klippy/kinematics/cartesian.py +++ b/klippy/kinematics/cartesian.py @@ -53,8 +53,8 @@ class CartKinematics: if flags == "Z": return self.rails[2].get_steppers() return [s for rail in self.rails for s in rail.get_steppers()] - def calc_position(self): - return [rail.get_commanded_position() for rail in self.rails] + def calc_tag_position(self): + return [rail.get_tag_position() for rail in self.rails] def set_position(self, newpos, homing_axes): for i, rail in enumerate(self.rails): rail.set_position(newpos) @@ -125,8 +125,9 @@ class CartKinematics: self.rails[dc_axis].set_trapq(None) dc_rail.set_trapq(toolhead.get_trapq()) self.rails[dc_axis] = dc_rail - extruder_pos = toolhead.get_position()[3] - toolhead.set_position(self.calc_position() + [extruder_pos]) + pos = toolhead.get_position() + pos[dc_axis] = dc_rail.get_commanded_position() + toolhead.set_position(pos) if self.limits[dc_axis][0] <= self.limits[dc_axis][1]: self.limits[dc_axis] = dc_rail.get_range() cmd_SET_DUAL_CARRIAGE_help = "Set which carriage is active" diff --git a/klippy/kinematics/corexy.py b/klippy/kinematics/corexy.py index 21901720..aa88406d 100644 --- a/klippy/kinematics/corexy.py +++ b/klippy/kinematics/corexy.py @@ -43,8 +43,8 @@ class CoreXYKinematics: if flags == "Z": return self.rails[2].get_steppers() return [s for rail in self.rails for s in rail.get_steppers()] - def calc_position(self): - pos = [rail.get_commanded_position() for rail in self.rails] + def calc_tag_position(self): + pos = [rail.get_tag_position() for rail in self.rails] return [0.5 * (pos[0] + pos[1]), 0.5 * (pos[0] - pos[1]), pos[2]] def set_position(self, newpos, homing_axes): for i, rail in enumerate(self.rails): diff --git a/klippy/kinematics/delta.py b/klippy/kinematics/delta.py index af3aa092..ee01be56 100644 --- a/klippy/kinematics/delta.py +++ b/klippy/kinematics/delta.py @@ -92,8 +92,8 @@ class DeltaKinematics: def _actuator_to_cartesian(self, spos): sphere_coords = [(t[0], t[1], sp) for t, sp in zip(self.towers, spos)] return mathutil.trilateration(sphere_coords, self.arm2) - def calc_position(self): - spos = [rail.get_commanded_position() for rail in self.rails] + def calc_tag_position(self): + spos = [rail.get_tag_position() for rail in self.rails] return self._actuator_to_cartesian(spos) def set_position(self, newpos, homing_axes): for rail in self.rails: diff --git a/klippy/kinematics/none.py b/klippy/kinematics/none.py index 2250f884..6fe9884f 100644 --- a/klippy/kinematics/none.py +++ b/klippy/kinematics/none.py @@ -9,7 +9,7 @@ class NoneKinematics: pass def get_steppers(self, flags=""): return [] - def calc_position(self): + def calc_tag_position(self): return [0, 0, 0] def set_position(self, newpos, homing_axes): pass diff --git a/klippy/kinematics/polar.py b/klippy/kinematics/polar.py index ca2e55c7..3a043ab3 100644 --- a/klippy/kinematics/polar.py +++ b/klippy/kinematics/polar.py @@ -40,10 +40,10 @@ class PolarKinematics: if flags == "Z": return self.rails[1].get_steppers() return list(self.steppers) - def calc_position(self): - bed_angle = self.steppers[0].get_commanded_position() - arm_pos = self.rails[0].get_commanded_position() - z_pos = self.rails[1].get_commanded_position() + def calc_tag_position(self): + bed_angle = self.steppers[0].get_tag_position() + arm_pos = self.rails[0].get_tag_position() + z_pos = self.rails[1].get_tag_position() return [math.cos(bed_angle) * arm_pos, math.sin(bed_angle) * arm_pos, z_pos] def set_position(self, newpos, homing_axes): diff --git a/klippy/kinematics/winch.py b/klippy/kinematics/winch.py index 32d388ad..6792dbd7 100644 --- a/klippy/kinematics/winch.py +++ b/klippy/kinematics/winch.py @@ -31,9 +31,9 @@ class WinchKinematics: self.set_position([0., 0., 0.], ()) def get_steppers(self, flags=""): return list(self.steppers) - def calc_position(self): + def calc_tag_position(self): # Use only first three steppers to calculate cartesian position - spos = [s.get_commanded_position() for s in self.steppers[:3]] + spos = [s.get_tag_position() for s in self.steppers[:3]] return mathutil.trilateration(self.anchors[:3], [sp*sp for sp in spos]) def set_position(self, newpos, homing_axes): for s in self.steppers: |