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docs: Update Code_Overview.md with the removal of calc_tag_position() 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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Kevin O'Connor 2021-06-11 23:02:05 -04:00
parent acdad76408
commit d1665fae4f
1 changed files with 10 additions and 11 deletions
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docs/Code_Overview.md
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@ -447,17 +447,16 @@ but does not include moves on the look-ahead queue. One may use the
`toolhead.flush_step_generation()` or `toolhead.wait_moves()` calls to
fully flush the look-ahead and step generation code.
The "kinematic" position (`stepper.set_tag_position()` and
`kin.calc_tag_position()`) is the cartesian position of the toolhead
as derived from the "stepper" position and is relative to the
coordinate system specified in the config file. This may differ from
the requested cartesian position due to the granularity of the stepper
motors. If the robot is in motion when `stepper.set_tag_position()` is
issued then the reported value includes moves buffered on the
micro-controller, but does not include moves on the look-ahead
queue. One may use the `toolhead.flush_step_generation()` or
`toolhead.wait_moves()` calls to fully flush the look-ahead and step
generation code.
The "kinematic" position (`kin.calc_position()`) is the cartesian
position of the toolhead as derived from "stepper" positions and is
relative to the coordinate system specified in the config file. This
may differ from the requested cartesian position due to the
granularity of the stepper motors. If the robot is in motion when the
"stepper" positions are taken then the reported value includes moves
buffered on the micro-controller, but does not include moves on the
look-ahead queue. One may use the `toolhead.flush_step_generation()`
or `toolhead.wait_moves()` calls to fully flush the look-ahead and
step generation code.
The "toolhead" position (`toolhead.get_position()`) is the last
requested position of the toolhead in cartesian coordinates relative