diff options
Diffstat (limited to 'klippy/mcu.py')
| -rw-r--r-- | klippy/mcu.py | 10 |
1 files changed, 6 insertions, 4 deletions
diff --git a/klippy/mcu.py b/klippy/mcu.py index 7c2789c6..a25fc3f7 100644 --- a/klippy/mcu.py +++ b/klippy/mcu.py @@ -69,11 +69,13 @@ class MCU_stepper: return self._oid def get_step_dist(self): return self._step_dist + def calc_position_from_coord(self, coord): + return self._ffi_lib.itersolve_calc_position_from_coord( + self._stepper_kinematics, coord[0], coord[1], coord[2]) def set_position(self, newpos): - orig_cmd_pos = self.get_commanded_position() - self._ffi_lib.itersolve_set_position( - self._stepper_kinematics, newpos[0], newpos[1], newpos[2]) - self._mcu_position_offset += orig_cmd_pos - self.get_commanded_position() + spos = self.calc_position_from_coord(newpos) + self._mcu_position_offset += self.get_commanded_position() - spos + self._ffi_lib.itersolve_set_commanded_pos(self._stepper_kinematics, spos) def get_commanded_position(self): return self._ffi_lib.itersolve_get_commanded_pos( self._stepper_kinematics) |