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mcu: Add a set_commanded_position() method to MCU_stepper

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Add the ability to directly set the "commanded" stepper position.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2018-10-08 20:50:45 -04:00
parent 459e521991
commit 770b92863f
2 changed files with 17 additions and 13 deletions
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10
klippy/stepper.py
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@@ -69,8 +69,9 @@ class PrinterStepper:
self.set_ignore_move = mcu_stepper.set_ignore_move
self.calc_position_from_coord = mcu_stepper.calc_position_from_coord
self.set_position = mcu_stepper.set_position
self.get_mcu_position = mcu_stepper.get_mcu_position
self.get_commanded_position = mcu_stepper.get_commanded_position
self.set_commanded_position = mcu_stepper.set_commanded_position
self.get_mcu_position = mcu_stepper.get_mcu_position
self.get_step_dist = mcu_stepper.get_step_dist
def get_name(self, short=False):
if short and self.name.startswith('stepper_'):
@@ -259,9 +260,12 @@ class PrinterRail:
def set_max_jerk(self, max_halt_velocity, max_accel):
for stepper in self.steppers:
stepper.set_max_jerk(max_halt_velocity, max_accel)
def set_position(self, newpos):
def set_commanded_position(self, pos):
for stepper in self.steppers:
stepper.set_position(newpos)
stepper.set_commanded_position(pos)
def set_position(self, coord):
for stepper in self.steppers:
stepper.set_position(coord)
def motor_enable(self, print_time, enable=0):
for stepper in self.steppers:
stepper.motor_enable(print_time, enable)