From 224574da4a623e3f37ebfe8082a546a9df697638 Mon Sep 17 00:00:00 2001 From: Kevin O'Connor Date: Wed, 13 Nov 2019 17:59:40 -0500 Subject: stepper: Add get/set_tag_position() and convert calc_position() Rename calc_position() to calc_tag_position() and have it calculate the value of the position from the last stepper set_tag_position() call. This enables the calc_tag_position() code to be more flexible as it can be run with arbitrary positions. Signed-off-by: Kevin O'Connor --- docs/Code_Overview.md | 11 ++++++----- 1 file changed, 6 insertions(+), 5 deletions(-) (limited to 'docs/Code_Overview.md') diff --git a/docs/Code_Overview.md b/docs/Code_Overview.md index 22bbf2d3..7f4be890 100644 --- a/docs/Code_Overview.md +++ b/docs/Code_Overview.md @@ -330,11 +330,12 @@ Useful steps: seconds) to a cartesian coordinate (in millimeters), and then calculate the desired stepper position (in millimeters) from that cartesian coordinate. -4. Implement the `calc_position()` method in the new kinematics class. - This method calculates the position of the toolhead in cartesian - coordinates from the current position of each stepper. It does not - need to be efficient as it is typically only called during homing - and probing operations. +4. Implement the `calc_tag_position()` method in the new kinematics + class. This method calculates the position of the toolhead in + cartesian coordinates from the position of each stepper (as + returned by `stepper.get_tag_position()`). It does not need to be + efficient as it is typically only called during homing and probing + operations. 5. Other methods. Implement the `check_move()`, `get_status()`, `get_steppers()`, `home()`, and `set_position()` methods. These functions are typically used to provide kinematic specific -- cgit v1.2.3-70-g09d2