diff options
Diffstat (limited to 'klippy/mcu.py')
| -rw-r--r-- | klippy/mcu.py | 10 |
1 files changed, 7 insertions, 3 deletions
diff --git a/klippy/mcu.py b/klippy/mcu.py index 080c71ac..94e94d63 100644 --- a/klippy/mcu.py +++ b/klippy/mcu.py @@ -69,10 +69,14 @@ class MCU_stepper: def get_oid(self): return self._oid def set_position(self, pos): - self._mcu_position_offset += self._commanded_pos - pos - self._commanded_pos = pos + if pos >= 0.: + steppos = int(pos * self._inv_step_dist + 0.5) + else: + steppos = int(pos * self._inv_step_dist - 0.5) + self._mcu_position_offset += self._commanded_pos - steppos + self._commanded_pos = steppos def get_commanded_position(self): - return self._commanded_pos + return self._commanded_pos * self._step_dist def get_mcu_position(self): return self._commanded_pos + self._mcu_position_offset def note_homing_start(self, homing_clock): |