h3n3/klipper
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

itersolve: Support setting the stepper position via a cartesian coordinate

Browse Source 
Add support for an itersolve_set_position() function that sets a
stepper position from a cartesian coordinate.  This eliminates the
need for both the python and C code to be able to translate from a
cartesian coordinate to a stepper position.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2018-06-22 13:03:07 -04:00
parent 0216201cb6
commit 890298d34d
9 changed files with 34 additions and 29 deletions
Download Patch File Download Diff File Expand all files Collapse all files

8
klippy/mcu.py
View File

@@ -71,9 +71,11 @@ class MCU_stepper:
return self._oid
def get_step_dist(self):
return self._step_dist
def set_position(self, pos):
self._mcu_position_offset += self.get_commanded_position() - pos
self._ffi_lib.itersolve_set_commanded_pos(self._stepper_kinematics, pos)
def set_position(self, newpos):
orig_cmd_pos = self.get_commanded_position()
self._ffi_lib.itersolve_set_position(
self._stepper_kinematics, newpos[0], newpos[1], newpos[2])
self._mcu_position_offset += orig_cmd_pos - self.get_commanded_position()
def get_commanded_position(self):
return self._ffi_lib.itersolve_get_commanded_pos(
self._stepper_kinematics)