diff options
Diffstat (limited to 'klippy/stepper.py')
| -rw-r--r-- | klippy/stepper.py | 6 |
1 files changed, 4 insertions, 2 deletions
diff --git a/klippy/stepper.py b/klippy/stepper.py index 9b692904..05e56cca 100644 --- a/klippy/stepper.py +++ b/klippy/stepper.py @@ -138,8 +138,10 @@ class MCU_stepper: def get_commanded_position(self): ffi_main, ffi_lib = chelper.get_ffi() return ffi_lib.itersolve_get_commanded_pos(self._stepper_kinematics) - def get_mcu_position(self): - mcu_pos_dist = self.get_commanded_position() + self._mcu_position_offset + def get_mcu_position(self, cmd_pos=None): + if cmd_pos is None: + cmd_pos = self.get_commanded_position() + mcu_pos_dist = cmd_pos + self._mcu_position_offset mcu_pos = mcu_pos_dist / self._step_dist if mcu_pos >= 0.: return int(mcu_pos + 0.5) |