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 --- klippy/kinematics/delta.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) (limited to 'klippy/kinematics/delta.py') diff --git a/klippy/kinematics/delta.py b/klippy/kinematics/delta.py index af3aa092..ee01be56 100644 --- a/klippy/kinematics/delta.py +++ b/klippy/kinematics/delta.py @@ -92,8 +92,8 @@ class DeltaKinematics: def _actuator_to_cartesian(self, spos): sphere_coords = [(t[0], t[1], sp) for t, sp in zip(self.towers, spos)] return mathutil.trilateration(sphere_coords, self.arm2) - def calc_position(self): - spos = [rail.get_commanded_position() for rail in self.rails] + def calc_tag_position(self): + spos = [rail.get_tag_position() for rail in self.rails] return self._actuator_to_cartesian(spos) def set_position(self, newpos, homing_axes): for rail in self.rails: -- cgit v1.2.3-70-g09d2