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This is the behavior that we are referring to as \"relative\" position. It muddies the terms. Also, the additional term in the `relative` function makes it un-intuitive how to use both src and src_point.","created_at":"2017-11-07T23:30:28Z","updated_at":"2017-11-07T23:30:28Z","html_url":"https://github.com/Opentrons/opentrons/pull/402#discussion_r149536623","pull_request_url":"https://api.github.com/repos/Opentrons/opentrons/pulls/402","author_association":"NONE","_links":{"self":{"href":"https://api.github.com/repos/Opentrons/opentrons/pulls/comments/149536623"},"html":{"href":"https://github.com/Opentrons/opentrons/pull/402#discussion_r149536623"},"pull_request":{"href":"https://api.github.com/repos/Opentrons/opentrons/pulls/402"}},"in_reply_to_id":149176096},"pull_request":{"url":"https://api.github.com/repos/Opentrons/opentrons/pulls/402","id":150847458,"html_url":"https://github.com/Opentrons/opentrons/pull/402","diff_url":"https://github.com/Opentrons/opentrons/pull/402.diff","patch_url":"https://github.com/Opentrons/opentrons/pull/402.patch","issue_url":"https://api.github.com/repos/Opentrons/opentrons/issues/402","number":402,"state":"open","locked":false,"title":"Scale, rotation and shift aware calibration and movement","user":{"login":"astaff","id":1032174,"avatar_url":"https://avatars3.githubusercontent.com/u/1032174?v=4","gravatar_id":"","url":"https://api.github.com/users/astaff","html_url":"https://github.com/astaff","followers_url":"https://api.github.com/users/astaff/followers","following_url":"https://api.github.com/users/astaff/following{/other_user}","gists_url":"https://api.github.com/users/astaff/gists{/gist_id}","starred_url":"https://api.github.com/users/astaff/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/astaff/subscriptions","organizations_url":"https://api.github.com/users/astaff/orgs","repos_url":"https://api.github.com/users/astaff/repos","events_url":"https://api.github.com/users/astaff/events{/privacy}","received_events_url":"https://api.github.com/users/astaff/received_events","type":"User","site_admin":false},"body":"Per #397 \r\n\r\n- Adds CLI tool for jogging the robot to calibration positions and\r\n  calculating calibration parameters: `api/opentrons/cli/main.py`.\r\n- Adds smoothie homing offsets for X and Y to avoid hitting endstops\r\n  during calibration.\r\n- `driver.move` now takes `target` a dictionary with axis values to\r\n  move to.\r\n- Adds coordinate rounding to 3rd digit before sending it to Smoothie\r\n- Unifies motion dispatch and position update to fully utilise pose tracker\r\n  refactoring `gantry.py` and consolidating Gantry, Mover, Actuator, Mount\r\n  under Mover class. 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