diff options
Diffstat (limited to 'klippy/stepper.py')
| -rw-r--r-- | klippy/stepper.py | 18 |
1 files changed, 6 insertions, 12 deletions
diff --git a/klippy/stepper.py b/klippy/stepper.py index b9be551d..4d623094 100644 --- a/klippy/stepper.py +++ b/klippy/stepper.py @@ -90,17 +90,14 @@ class MCU_stepper: return self._step_dist def is_dir_inverted(self): return self._invert_dir - 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, coord): - self.set_commanded_position(self.calc_position_from_coord(coord)) + opos = self.get_commanded_position() + sk = self._stepper_kinematics + self._ffi_lib.itersolve_set_position(sk, coord[0], coord[1], coord[2]) + self._mcu_position_offset += opos - self.get_commanded_position() def get_commanded_position(self): - return self._ffi_lib.itersolve_get_commanded_pos( - self._stepper_kinematics) - def set_commanded_position(self, pos): - self._mcu_position_offset += self.get_commanded_position() - pos - self._ffi_lib.itersolve_set_commanded_pos(self._stepper_kinematics, pos) + sk = self._stepper_kinematics + return self._ffi_lib.itersolve_get_commanded_pos(sk) def get_mcu_position(self): mcu_pos_dist = self.get_commanded_position() + self._mcu_position_offset mcu_pos = mcu_pos_dist / self._step_dist @@ -279,9 +276,6 @@ class PrinterRail: def set_max_jerk(self, max_halt_velocity, max_accel): for stepper in self.steppers: stepper.set_max_jerk(max_halt_velocity, max_accel) - def set_commanded_position(self, pos): - for stepper in self.steppers: - stepper.set_commanded_position(pos) def set_position(self, coord): for stepper in self.steppers: stepper.set_position(coord) |