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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
==================
The position of the toolhead is primarily tracked in cartesian
coordinates that are relative to the coordinate system specified in
the config file. That is, the coordinate system generally does not
change during run-time. If a request is made to alter the origin (eg,
a `G92` command) then that effect is obtained by translating future
commands to the existing coordinate system.
Internally, Klipper primarily tracks the position of the toolhead in
cartesian coordinates that are relative to the coordinate system
specified in the config file. That is, most of the Klipper code will
never experience a change in coordinate systems. If the user makes a
request to change the origin (eg, a `G92` command) then that effect is
obtained by translating future commands to the primary coordinate
system.
However, in some cases it is useful to obtain the toolhead position in
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.
The "stepper" position (`stepper.get_commanded_position()`) is the
position for the given stepper as tracked by the kinematics code. This
generally corresponds to the position of the carriage along its rail
in units of millimeters and is generally relative to the
endstop_position specified in the config file. (Some kinematics track
the position in radians instead of millimeters.) If the robot is in
motion when the query 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.
position of the given stepper as tracked by the kinematics code. This
generally corresponds to the position (in mm) of the carriage along
its rail, relative to the endstop_position specified in the config
file. (Some kinematics track stepper positions in radians instead of
millimeters.) If the robot is in motion when the query 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.set_tag_position()` and
`kin.calc_tag_position()`) is the cartesian position of the toolhead