Now that the only caller to set_commanded_position() is
set_position(), remove the set_commanded_position() method and pass
the set_position() call directly to the itersolve.c code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Eliminate the old gen_steps() call now that all callers have been
converted to the newer trapq based generate_steps().
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Support associating a stepper_kinematics with a trapq. Support
generating steps from a time range on the given trapq.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Add support for an itersolve_set_position() function that sets a
stepper position from a cartesian coordinate. This eliminates the
need for both the python and C code to be able to translate from a
cartesian coordinate to a stepper position.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Kevin O'Connor