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docs: Minor "coordinate system" wording change to Code_Overview.md 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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Kevin O'Connor 2019-12-04 12:05:31 -05:00
parent e557f2d0c0
commit e17f2bac96
1 changed files with 16 additions and 16 deletions
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docs/Code_Overview.md
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@ -403,12 +403,13 @@ Useful steps:
Coordinate Systems Coordinate Systems
================== ==================
The position of the toolhead is primarily tracked in cartesian Internally, Klipper primarily tracks the position of the toolhead in
coordinates that are relative to the coordinate system specified in cartesian coordinates that are relative to the coordinate system
the config file. That is, the coordinate system generally does not specified in the config file. That is, most of the Klipper code will
change during run-time. If a request is made to alter the origin (eg, never experience a change in coordinate systems. If the user makes a
a `G92` command) then that effect is obtained by translating future request to change the origin (eg, a `G92` command) then that effect is
commands to the existing coordinate system. obtained by translating future commands to the primary coordinate
system.
However, in some cases it is useful to obtain the toolhead position in However, in some cases it is useful to obtain the toolhead position in
some other coordinate system and Klipper has several tools to some other coordinate system and Klipper has several tools to
@ -436,16 +437,15 @@ the micro-controller, but does not include moves on the look-ahead
queue. queue.
The "stepper" position (`stepper.get_commanded_position()`) is the The "stepper" position (`stepper.get_commanded_position()`) is the
position for the given stepper as tracked by the kinematics code. This position of the given stepper as tracked by the kinematics code. This
generally corresponds to the position of the carriage along its rail generally corresponds to the position (in mm) of the carriage along
in units of millimeters and is generally relative to the its rail, relative to the endstop_position specified in the config
endstop_position specified in the config file. (Some kinematics track file. (Some kinematics track stepper positions in radians instead of
the position in radians instead of millimeters.) If the robot is in millimeters.) If the robot is in motion when the query is issued then
motion when the query is issued then the reported value includes moves the reported value includes moves buffered on the micro-controller,
buffered on the micro-controller, but does not include moves on the but does not include moves on the look-ahead queue. One may use the
look-ahead queue. One may use the `toolhead.flush_step_generation()` `toolhead.flush_step_generation()` or `toolhead.wait_moves()` calls to
or `toolhead.wait_moves()` calls to fully flush the look-ahead and fully flush the look-ahead and step generation code.
step generation code.
The "kinematic" position (`kin.set_tag_position()` and The "kinematic" position (`kin.set_tag_position()` and
`kin.calc_tag_position()`) is the cartesian position of the toolhead `kin.calc_tag_position()`) is the cartesian position of the toolhead