diff options
Diffstat (limited to 'klippy/stepper.py')
| -rw-r--r-- | klippy/stepper.py | 11 |
1 files changed, 8 insertions, 3 deletions
diff --git a/klippy/stepper.py b/klippy/stepper.py index 1f7a58f7..cf7effd7 100644 --- a/klippy/stepper.py +++ b/klippy/stepper.py @@ -95,6 +95,9 @@ 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): opos = self.get_commanded_position() sk = self._stepper_kinematics @@ -199,9 +202,11 @@ class PrinterRail: self.steppers = [] self.endstops = [] self.add_extra_stepper(config) - self.get_commanded_position = self.steppers[0].get_commanded_position - self.get_tag_position = self.steppers[0].get_tag_position - self.set_tag_position = self.steppers[0].set_tag_position + mcu_stepper = self.steppers[0] + self.get_commanded_position = mcu_stepper.get_commanded_position + self.get_tag_position = mcu_stepper.get_tag_position + self.set_tag_position = mcu_stepper.set_tag_position + self.calc_position_from_coord = mcu_stepper.calc_position_from_coord # Primary endstop position mcu_endstop = self.endstops[0][0] if hasattr(mcu_endstop, "get_position_endstop"): |