delta: Rename get_position() to calc_position()

Calculating the cartesian position from the stepper positions can be
complex and cpu intensive, so rename it to calc_position() to be more
descriptive.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

docs/Code_Overview.md

@@ -322,10 +322,10 @@ Useful steps:
 4. Implement the `set_position()` method in the python code. This also
    calculates the desired stepper positions given a cartesian
    coordinate.
-5. Implement the `get_position()` method in the new kinematics
-   class. This method is the inverse of set_position(). It does not
-   need to be efficient as it is typically only called during homing
-   and probing operations.
+5. Implement the `calc_position()` method in the new kinematics class.
+   This method is the inverse of set_position(). It does not need to
+   be efficient as it is typically only called during homing and
+   probing operations.
 6. Implement the `move()` method. This method generally invokes the
    iterative solver for each stepper.
 7. Other methods. The `home()`, `check_move()`, and other methods

klippy/cartesian.py

@@ -51,7 +51,7 @@ class CartKinematics:
         if flags == "Z":
             return [self.rails[2]]
         return list(self.rails)
-    def get_position(self):
+    def calc_position(self):
         return [rail.get_commanded_position() for rail in self.rails]
     def set_position(self, newpos, homing_axes):
         for i in StepList:
@@ -161,7 +161,7 @@ class CartKinematics:
         dc_axis = self.dual_carriage_axis
         self.rails[dc_axis] = dc_rail
         extruder_pos = toolhead.get_position()[3]
-        toolhead.set_position(self.get_position() + [extruder_pos])
+        toolhead.set_position(self.calc_position() + [extruder_pos])
         if self.limits[dc_axis][0] <= self.limits[dc_axis][1]:
             self.limits[dc_axis] = dc_rail.get_range()
         self.need_motor_enable = True

klippy/corexy.py

@@ -42,7 +42,7 @@ class CoreXYKinematics:
         if flags == "Z":
             return [self.rails[2]]
         return list(self.rails)
-    def get_position(self):
+    def calc_position(self):
         pos = [rail.get_commanded_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):

klippy/delta.py

@@ -93,7 +93,7 @@ class DeltaKinematics:
                 for i in StepList]
     def _actuator_to_cartesian(self, pos):
         return actuator_to_cartesian(self.towers, self.arm2, pos)
-    def get_position(self):
+    def calc_position(self):
         spos = [rail.get_commanded_position() for rail in self.rails]
         return self._actuator_to_cartesian(spos)
     def set_position(self, newpos, homing_axes):

klippy/extras/bed_tilt.py

@@ -50,7 +50,7 @@ class BedTiltCalibrate:
         self.probe_helper.start_probe()
     def get_position(self):
         kin = self.printer.lookup_object('toolhead').get_kinematics()
-        return kin.get_position()
+        return kin.calc_position()
     def finalize(self, z_offset, positions):
         logging.info("Calculating bed_tilt with: %s", positions)
         params = { 'x_adjust': self.bedtilt.x_adjust,

klippy/extras/z_tilt.py

@@ -46,7 +46,7 @@ class ZTilt:
         self.probe_helper.start_probe()
     def get_position(self):
         kin = self.printer.lookup_object('toolhead').get_kinematics()
-        return kin.get_position()
+        return kin.calc_position()
     def finalize(self, z_offset, positions):
         logging.info("Calculating bed tilt with: %s", positions)
         params = { 'x_adjust': 0., 'y_adjust': 0., 'z_adjust': z_offset }

klippy/gcode.py

@@ -605,7 +605,7 @@ class GCodeParser:
             ["%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.get_position())])
+                                  for a, v in zip("XYZE", kin.calc_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)

klippy/homing.py

@@ -67,7 +67,7 @@ class Homing:
                     error = "Failed to home %s: %s" % (name, str(e))
         if probe_pos:
             self.set_homed_position(
-                list(self.toolhead.get_kinematics().get_position()) + [None])
+                list(self.toolhead.get_kinematics().calc_position()) + [None])
         else:
             self.toolhead.set_position(movepos)
         for mcu_endstop, name in endstops: