+// reset the position for all axis (used in homing for delta as last_milestone may be bogus)
+void Robot::reset_axis_position(float x, float y, float z)
+{
+ this->last_milestone[X_AXIS] = x;
+ this->last_milestone[Y_AXIS] = y;
+ this->last_milestone[Z_AXIS] = z;
+
+ float actuator_pos[3];
+ arm_solution->cartesian_to_actuator(this->last_milestone, actuator_pos);
+ for (int i = 0; i < 3; i++)
+ actuators[i]->change_last_milestone(actuator_pos[i]);
+}
+
+// Reset the position for an axis (used in homing and G92)