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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@ -447,17 +447,16 @@ but does not include moves on the look-ahead queue. One may use the
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`toolhead.flush_step_generation()` or `toolhead.wait_moves()` calls to
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`toolhead.flush_step_generation()` or `toolhead.wait_moves()` calls to
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fully flush the look-ahead and step generation code.
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fully flush the look-ahead and step generation code.
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The "kinematic" position (`stepper.set_tag_position()` and
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The "kinematic" position (`kin.calc_position()`) is the cartesian
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`kin.calc_tag_position()`) is the cartesian position of the toolhead
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position of the toolhead as derived from "stepper" positions and is
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as derived from the "stepper" position and is relative to the
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relative to the coordinate system specified in the config file. This
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coordinate system specified in the config file. This may differ from
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may differ from the requested cartesian position due to the
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the requested cartesian position due to the granularity of the stepper
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granularity of the stepper motors. If the robot is in motion when the
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motors. If the robot is in motion when `stepper.set_tag_position()` is
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"stepper" positions are taken then the reported value includes moves
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issued then the reported value includes moves buffered on the
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buffered on the micro-controller, but does not include moves on the
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micro-controller, but does not include moves on the look-ahead
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look-ahead queue. One may use the `toolhead.flush_step_generation()`
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queue. One may use the `toolhead.flush_step_generation()` or
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or `toolhead.wait_moves()` calls to fully flush the look-ahead and
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`toolhead.wait_moves()` calls to fully flush the look-ahead and step
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step generation code.
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generation code.
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The "toolhead" position (`toolhead.get_position()`) is the last
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The "toolhead" position (`toolhead.get_position()`) is the last
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requested position of the toolhead in cartesian coordinates relative
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requested position of the toolhead in cartesian coordinates relative
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