From 24586f0c31d9f56a16f4c2434e8a7bcb98adc802 Mon Sep 17 00:00:00 2001 From: Kevin O'Connor Date: Fri, 2 Apr 2021 12:18:05 -0400 Subject: stepper: Query the stepper mcu position during startup Try to keep the host mcu_position synchronized with the micro-controller by querying during startup and after every homing event. Signed-off-by: Kevin O'Connor --- docs/Code_Overview.md | 9 ++++----- 1 file changed, 4 insertions(+), 5 deletions(-) (limited to 'docs/Code_Overview.md') diff --git a/docs/Code_Overview.md b/docs/Code_Overview.md index 2e9dcf04..f6a73247 100644 --- a/docs/Code_Overview.md +++ b/docs/Code_Overview.md @@ -424,11 +424,10 @@ Recv: // gcode homing: X:0.000000 Y:0.000000 Z:0.000000 The "mcu" position (`stepper.get_mcu_position()` in the code) is the total number of steps the micro-controller has issued in a positive direction minus the number of steps issued in a negative direction -since the micro-controller was last reset. The value reported is only -valid after the stepper has been homed. If the robot is in motion when -the query is issued then the reported value includes moves buffered on -the micro-controller, but does not include moves on the look-ahead -queue. +since the micro-controller was last reset. If the robot is in motion +when the query is issued then the reported value includes moves +buffered on the micro-controller, but does not include moves on the +look-ahead queue. The "stepper" position (`stepper.get_commanded_position()`) is the position of the given stepper as tracked by the kinematics code. This -- cgit v1.2.3-70-g09d2