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stepper: Remove set_tag_position() code

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Have callers store the stepper positions in a dict.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2021-05-01 00:27:43 -04:00
parent 77bc5e4388
commit c0d860487a
17 changed files with 62 additions and 66 deletions
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6
klippy/kinematics/winch.py
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@@ -29,10 +29,10 @@ class WinchKinematics:
self.set_position([0., 0., 0.], ())
def get_steppers(self):
return list(self.steppers)
def calc_tag_position(self):
def calc_position(self, stepper_positions):
# Use only first three steppers to calculate cartesian position
spos = [s.get_tag_position() for s in self.steppers[:3]]
return mathutil.trilateration(self.anchors[:3], [sp*sp for sp in spos])
pos = [stepper_positions[rail.get_name()] for rail in self.steppers[:3]]
return mathutil.trilateration(self.anchors[:3], [sp*sp for sp in pos])
def set_position(self, newpos, homing_axes):
for s in self.steppers:
s.set_position(newpos)