diff --git a/docs/Code_Overview.md b/docs/Code_Overview.md
index 22bbf2d3f..7f4be890c 100644
--- a/docs/Code_Overview.md
+++ b/docs/Code_Overview.md
@@ -330,11 +330,12 @@ Useful steps:
seconds) to a cartesian coordinate (in millimeters), and then
calculate the desired stepper position (in millimeters) from that
cartesian coordinate.
-4. Implement the `calc_position()` method in the new kinematics class.
- This method calculates the position of the toolhead in cartesian
- coordinates from the current position of each stepper. It does not
- need to be efficient as it is typically only called during homing
- and probing operations.
+4. Implement the `calc_tag_position()` method in the new kinematics
+ class. This method calculates the position of the toolhead in
+ cartesian coordinates from the position of each stepper (as
+ returned by `stepper.get_tag_position()`). It does not need to be
+ efficient as it is typically only called during homing and probing
+ operations.
5. Other methods. Implement the `check_move()`, `get_status()`,
`get_steppers()`, `home()`, and `set_position()` methods. These
functions are typically used to provide kinematic specific
diff --git a/klippy/extras/manual_probe.py b/klippy/extras/manual_probe.py
index 38160fefd..c3fcadb99 100644
--- a/klippy/extras/manual_probe.py
+++ b/klippy/extras/manual_probe.py
@@ -83,7 +83,10 @@ class ManualProbeHelper:
if toolhead_pos == self.last_toolhead_pos:
return self.last_kinematics_pos
self.toolhead.get_last_move_time()
- kin_pos = self.toolhead.get_kinematics().calc_position()
+ kin = self.toolhead.get_kinematics()
+ for s in kin.get_steppers():
+ s.set_tag_position(s.get_commanded_position())
+ kin_pos = kin.calc_tag_position()
self.last_toolhead_pos = toolhead_pos
self.last_kinematics_pos = kin_pos
return kin_pos
diff --git a/klippy/gcode.py b/klippy/gcode.py
index ff61df4e5..323d5527f 100644
--- a/klippy/gcode.py
+++ b/klippy/gcode.py
@@ -690,11 +690,12 @@ class GCodeParser:
steppers = kin.get_steppers()
mcu_pos = " ".join(["%s:%d" % (s.get_name(), s.get_mcu_position())
for s in steppers])
- stepper_pos = " ".join(
- ["%s:%.6f" % (s.get_name(), s.get_commanded_position())
- for s in steppers])
- kinematic_pos = " ".join(["%s:%.6f" % (a, v)
- for a, v in zip("XYZE", kin.calc_position())])
+ for s in steppers:
+ s.set_tag_position(s.get_commanded_position())
+ stepper_pos = " ".join(["%s:%.6f" % (s.get_name(), s.get_tag_position())
+ for s in steppers])
+ kin_pos = " ".join(["%s:%.6f" % (a, v)
+ for a, v in zip("XYZ", kin.calc_tag_position())])
toolhead_pos = " ".join(["%s:%.6f" % (a, v) for a, v in zip(
"XYZE", self.toolhead.get_position())])
gcode_pos = " ".join(["%s:%.6f" % (a, v)
@@ -703,16 +704,15 @@ class GCodeParser:
for a, v in zip("XYZE", self.base_position)])
homing_pos = " ".join(["%s:%.6f" % (a, v)
for a, v in zip("XYZ", self.homing_position)])
- self.respond_info(
- "mcu: %s\n"
- "stepper: %s\n"
- "kinematic: %s\n"
- "toolhead: %s\n"
- "gcode: %s\n"
- "gcode base: %s\n"
- "gcode homing: %s" % (
- mcu_pos, stepper_pos, kinematic_pos, toolhead_pos,
- gcode_pos, base_pos, homing_pos))
+ self.respond_info("mcu: %s\n"
+ "stepper: %s\n"
+ "kinematic: %s\n"
+ "toolhead: %s\n"
+ "gcode: %s\n"
+ "gcode base: %s\n"
+ "gcode homing: %s"
+ % (mcu_pos, stepper_pos, kin_pos, toolhead_pos,
+ gcode_pos, base_pos, homing_pos))
def request_restart(self, result):
if self.is_printer_ready:
print_time = self.toolhead.get_last_move_time()
diff --git a/klippy/homing.py b/klippy/homing.py
index 63530a910..0f3ee3089 100644
--- a/klippy/homing.py
+++ b/klippy/homing.py
@@ -67,8 +67,10 @@ class Homing:
if error is None:
error = "Failed to home %s: %s" % (name, str(e))
if probe_pos:
- self.set_homed_position(
- list(self.toolhead.get_kinematics().calc_position()) + [None])
+ kin = self.toolhead.get_kinematics()
+ for s in kin.get_steppers():
+ s.set_tag_position(s.get_commanded_position())
+ self.set_homed_position(kin.calc_tag_position())
else:
self.toolhead.set_position(movepos)
for mcu_endstop, name in endstops:
@@ -116,7 +118,10 @@ class Homing:
ret = self.printer.send_event("homing:homed_rails", self, rails)
if any(ret):
# Apply any homing offsets
- adjustpos = self.toolhead.get_kinematics().calc_position()
+ kin = self.toolhead.get_kinematics()
+ for s in kin.get_steppers():
+ s.set_tag_position(s.get_commanded_position())
+ adjustpos = kin.calc_tag_position()
for axis in homing_axes:
movepos[axis] = adjustpos[axis]
self.toolhead.set_position(movepos)
diff --git a/klippy/kinematics/cartesian.py b/klippy/kinematics/cartesian.py
index f8c50bb99..671914d53 100644
--- a/klippy/kinematics/cartesian.py
+++ b/klippy/kinematics/cartesian.py
@@ -53,8 +53,8 @@ class CartKinematics:
if flags == "Z":
return self.rails[2].get_steppers()
return [s for rail in self.rails for s in rail.get_steppers()]
- def calc_position(self):
- return [rail.get_commanded_position() for rail in self.rails]
+ def calc_tag_position(self):
+ return [rail.get_tag_position() for rail in self.rails]
def set_position(self, newpos, homing_axes):
for i, rail in enumerate(self.rails):
rail.set_position(newpos)
@@ -125,8 +125,9 @@ class CartKinematics:
self.rails[dc_axis].set_trapq(None)
dc_rail.set_trapq(toolhead.get_trapq())
self.rails[dc_axis] = dc_rail
- extruder_pos = toolhead.get_position()[3]
- toolhead.set_position(self.calc_position() + [extruder_pos])
+ pos = toolhead.get_position()
+ pos[dc_axis] = dc_rail.get_commanded_position()
+ toolhead.set_position(pos)
if self.limits[dc_axis][0] <= self.limits[dc_axis][1]:
self.limits[dc_axis] = dc_rail.get_range()
cmd_SET_DUAL_CARRIAGE_help = "Set which carriage is active"
diff --git a/klippy/kinematics/corexy.py b/klippy/kinematics/corexy.py
index 219017204..aa88406dc 100644
--- a/klippy/kinematics/corexy.py
+++ b/klippy/kinematics/corexy.py
@@ -43,8 +43,8 @@ class CoreXYKinematics:
if flags == "Z":
return self.rails[2].get_steppers()
return [s for rail in self.rails for s in rail.get_steppers()]
- def calc_position(self):
- pos = [rail.get_commanded_position() for rail in self.rails]
+ def calc_tag_position(self):
+ pos = [rail.get_tag_position() for rail in self.rails]
return [0.5 * (pos[0] + pos[1]), 0.5 * (pos[0] - pos[1]), pos[2]]
def set_position(self, newpos, homing_axes):
for i, rail in enumerate(self.rails):
diff --git a/klippy/kinematics/delta.py b/klippy/kinematics/delta.py
index af3aa092d..ee01be56b 100644
--- a/klippy/kinematics/delta.py
+++ b/klippy/kinematics/delta.py
@@ -92,8 +92,8 @@ class DeltaKinematics:
def _actuator_to_cartesian(self, spos):
sphere_coords = [(t[0], t[1], sp) for t, sp in zip(self.towers, spos)]
return mathutil.trilateration(sphere_coords, self.arm2)
- def calc_position(self):
- spos = [rail.get_commanded_position() for rail in self.rails]
+ def calc_tag_position(self):
+ spos = [rail.get_tag_position() for rail in self.rails]
return self._actuator_to_cartesian(spos)
def set_position(self, newpos, homing_axes):
for rail in self.rails:
diff --git a/klippy/kinematics/none.py b/klippy/kinematics/none.py
index 2250f884b..6fe9884ff 100644
--- a/klippy/kinematics/none.py
+++ b/klippy/kinematics/none.py
@@ -9,7 +9,7 @@ class NoneKinematics:
pass
def get_steppers(self, flags=""):
return []
- def calc_position(self):
+ def calc_tag_position(self):
return [0, 0, 0]
def set_position(self, newpos, homing_axes):
pass
diff --git a/klippy/kinematics/polar.py b/klippy/kinematics/polar.py
index ca2e55c75..3a043ab34 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):
diff --git a/klippy/kinematics/winch.py b/klippy/kinematics/winch.py
index 32d388ad0..6792dbd70 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:
diff --git a/klippy/stepper.py b/klippy/stepper.py
index 97a1283e6..eff0fa678 100644
--- a/klippy/stepper.py
+++ b/klippy/stepper.py
@@ -29,7 +29,7 @@ class MCU_stepper:
"Stepper dir pin must be on same mcu as step pin")
self._dir_pin = dir_pin_params['pin']
self._invert_dir = dir_pin_params['invert']
- self._mcu_position_offset = 0.
+ self._mcu_position_offset = self._tag_position = 0.
self._min_stop_interval = 0.
self._reset_cmd_id = self._get_position_cmd = None
self._active_callbacks = []
@@ -107,6 +107,10 @@ class MCU_stepper:
if mcu_pos >= 0.:
return int(mcu_pos + 0.5)
return int(mcu_pos - 0.5)
+ def get_tag_position(self):
+ return self._tag_position
+ def set_tag_position(self, position):
+ self._tag_position = position
def set_stepper_kinematics(self, sk):
old_sk = self._stepper_kinematics
self._stepper_kinematics = sk
@@ -193,6 +197,8 @@ class PrinterRail:
self.endstops = []
self.add_extra_stepper(config)
self.get_commanded_position = self.steppers[0].get_commanded_position
+ self.get_tag_position = self.steppers[0].get_tag_position
+ self.set_tag_position = self.steppers[0].set_tag_position
# Primary endstop position
mcu_endstop = self.endstops[0][0]
if hasattr(mcu_endstop, "get_position_endstop"):