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/winch.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) (limited to 'klippy/kinematics/winch.py') diff --git a/klippy/kinematics/winch.py b/klippy/kinematics/winch.py index 32d388ad..6792dbd7 100644 --- a/klippy/kinematics/winch.py +++ b/klippy/kinematics/winch.py @@ -31,9 +31,9 @@ class WinchKinematics: self.set_position([0., 0., 0.], ()) def get_steppers(self, flags=""): return list(self.steppers) - def calc_position(self): + def calc_tag_position(self): # Use only first three steppers to calculate cartesian position - spos = [s.get_commanded_position() for s in self.steppers[:3]] + spos = [s.get_tag_position() for s in self.steppers[:3]] return mathutil.trilateration(self.anchors[:3], [sp*sp for sp in spos]) def set_position(self, newpos, homing_axes): for s in self.steppers: -- cgit v1.2.3-70-g09d2