mirror of https://github.com/Desuuuu/klipper.git
94 lines
4.0 KiB
Python
94 lines
4.0 KiB
Python
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# Bed tilt compensation
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#
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# Copyright (C) 2018 Kevin O'Connor <kevin@koconnor.net>
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#
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# This file may be distributed under the terms of the GNU GPLv3 license.
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import logging
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import probe
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class BedTilt:
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def __init__(self, config):
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self.printer = config.get_printer()
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self.x_adjust = config.getfloat('x_adjust', 0.)
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self.y_adjust = config.getfloat('y_adjust', 0.)
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if config.get('points', None) is not None:
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BedTiltCalibrate(config, self)
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self.toolhead = None
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gcode = self.printer.lookup_object('gcode')
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gcode.set_move_transform(self)
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def printer_state(self, state):
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if state == 'connect':
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self.toolhead = self.printer.lookup_object('toolhead')
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def get_position(self):
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x, y, z, e = self.toolhead.get_position()
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return [x, y, z - x*self.x_adjust - y*self.y_adjust, e]
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def move(self, newpos, speed):
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x, y, z, e = newpos
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self.toolhead.move([x, y, z + x*self.x_adjust + y*self.y_adjust, e],
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speed)
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# Helper script to calibrate the bed tilt
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class BedTiltCalibrate:
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def __init__(self, config, bedtilt):
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self.bedtilt = bedtilt
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self.printer = config.get_printer()
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points = config.get('points').split('\n')
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try:
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points = [line.split(',', 1) for line in points if line.strip()]
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self.points = [(float(p[0].strip()), float(p[1].strip()))
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for p in points]
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except:
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raise config.error("Unable to parse bed tilt points")
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self.speed = config.getfloat('speed', 50., above=0.)
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self.horizontal_move_z = config.getfloat('horizontal_move_z', 5.)
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self.probe_z_offset = config.getfloat('probe_z_offset', 0.)
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self.manual_probe = config.getboolean('manual_probe', None)
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if self.manual_probe is None:
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self.manual_probe = not config.has_section('probe')
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self.gcode = self.printer.lookup_object('gcode')
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self.gcode.register_command(
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'BED_TILT_CALIBRATE', self.cmd_BED_TILT_CALIBRATE,
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desc=self.cmd_BED_TILT_CALIBRATE_help)
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cmd_BED_TILT_CALIBRATE_help = "Bed tilt calibration script"
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def cmd_BED_TILT_CALIBRATE(self, params):
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self.gcode.run_script("G28")
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probe.ProbePointsHelper(
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self.printer, self.points, self.horizontal_move_z,
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self.speed, self.manual_probe, self)
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def get_position(self):
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kin = self.printer.lookup_object('toolhead').get_kinematics()
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return kin.get_position()
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def finalize(self, positions):
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logging.debug("Got: %s", positions)
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params = { 'x_adjust': self.bedtilt.x_adjust,
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'y_adjust': self.bedtilt.y_adjust,
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'z_adjust': self.probe_z_offset }
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logging.debug("Params: %s", params)
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def adjusted_height(pos, params):
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x, y, z = pos
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return (z + x*params['x_adjust'] + y*params['y_adjust']
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- params['z_adjust'])
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def errorfunc(params):
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total_error = 0.
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for pos in positions:
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total_error += adjusted_height(pos, params)**2
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return total_error
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new_params = probe.coordinate_descent(params.keys(), params, errorfunc)
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logging.debug("Got2: %s", new_params)
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for pos in positions:
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logging.debug("orig: %s new: %s",
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adjusted_height(pos, params),
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adjusted_height(pos, new_params))
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z_warn = ""
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z_diff = new_params['z_adjust'] - self.probe_z_offset
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if abs(z_diff) > .010:
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z_warn = "Note: Z offset was %.6f\n" % (z_diff,)
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self.gcode.respond_info(
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"%sx_adjust: %.6f y_adjust: %.6f\n"
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"To use these parameters, update the printer config file with\n"
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"the above and then issue a RESTART command" % (
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z_warn, new_params['x_adjust'], new_params['y_adjust']))
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def load_config(config):
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return BedTilt(config)
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