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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 `toolhead.flush_step_generation()` or `toolhead.wait_moves()` calls to
fully flush the look-ahead and step generation code. fully flush the look-ahead and step generation code.
The "kinematic" position (`stepper.set_tag_position()` and The "kinematic" position (`kin.calc_position()`) is the cartesian
`kin.calc_tag_position()`) is the cartesian position of the toolhead position of the toolhead as derived from "stepper" positions and is
as derived from the "stepper" position and is relative to the relative to the coordinate system specified in the config file. This
coordinate system specified in the config file. This may differ from may differ from the requested cartesian position due to the
the requested cartesian position due to the granularity of the stepper granularity of the stepper motors. If the robot is in motion when the
motors. If the robot is in motion when `stepper.set_tag_position()` is "stepper" positions are taken then the reported value includes moves
issued then the reported value includes moves buffered on the buffered on the micro-controller, but does not include moves on the
micro-controller, but does not include moves on the look-ahead look-ahead queue. One may use the `toolhead.flush_step_generation()`
queue. One may use the `toolhead.flush_step_generation()` or or `toolhead.wait_moves()` calls to fully flush the look-ahead and
`toolhead.wait_moves()` calls to fully flush the look-ahead and step step generation code.
generation code.
The "toolhead" position (`toolhead.get_position()`) is the last The "toolhead" position (`toolhead.get_position()`) is the last
requested position of the toolhead in cartesian coordinates relative requested position of the toolhead in cartesian coordinates relative