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/polar.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) (limited to 'klippy/kinematics/polar.py') diff --git a/klippy/kinematics/polar.py b/klippy/kinematics/polar.py index ca2e55c7..3a043ab3 100644 --- a/klippy/kinematics/polar.py +++ b/klippy/kinematics/polar.py @@ -40,10 +40,10 @@ class PolarKinematics: if flags == "Z": return self.rails[1].get_steppers() return list(self.steppers) - def calc_position(self): - bed_angle = self.steppers[0].get_commanded_position() - arm_pos = self.rails[0].get_commanded_position() - z_pos = self.rails[1].get_commanded_position() + def calc_tag_position(self): + bed_angle = self.steppers[0].get_tag_position() + arm_pos = self.rails[0].get_tag_position() + z_pos = self.rails[1].get_tag_position() return [math.cos(bed_angle) * arm_pos, math.sin(bed_angle) * arm_pos, z_pos] def set_position(self, newpos, homing_axes): -- cgit v1.2.3-70-g09d2