diff options
Diffstat (limited to 'klippy/stepper.py')
| -rw-r--r-- | klippy/stepper.py | 11 |
1 files changed, 10 insertions, 1 deletions
diff --git a/klippy/stepper.py b/klippy/stepper.py index 5af26d66..071e6267 100644 --- a/klippy/stepper.py +++ b/klippy/stepper.py @@ -124,6 +124,11 @@ class MCU_stepper: return self._tag_position def set_tag_position(self, position): self._tag_position = position + def get_past_commanded_position(self, clock): + ffi_main, ffi_lib = chelper.get_ffi() + sq = self._stepqueue + mcu_pos = ffi_lib.stepcompress_find_past_position(sq, clock) + return mcu_pos * self._step_dist - self._mcu_position_offset def set_stepper_kinematics(self, sk): old_sk = self._stepper_kinematics self._stepper_kinematics = sk @@ -145,7 +150,11 @@ class MCU_stepper: if not did_trigger or self._mcu.is_fileoutput(): return params = self._get_position_cmd.send([self._oid]) - mcu_pos_dist = params['pos'] * self._step_dist + last_pos = params['pos'] + ret = ffi_lib.stepcompress_set_last_position(self._stepqueue, last_pos) + if ret: + raise error("Internal error in stepcompress") + mcu_pos_dist = last_pos * self._step_dist if self._invert_dir: mcu_pos_dist = -mcu_pos_dist self._mcu_position_offset = mcu_pos_dist - self.get_commanded_position() |