mirror of https://github.com/Desuuuu/klipper.git
delta: Simplify DeltaCalibration state tracking
Limit the use of coordinate descent "params". Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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Kevin O'Connor
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27e6b533bc
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bcf10aa990
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@ -146,38 +146,51 @@ class DeltaKinematics:
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self.limit_xy2 = min(limit_xy2, self.slow_xy2)
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def get_status(self, eventtime):
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return {'homed_axes': '' if self.need_home else 'xyz'}
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# Helper function for DELTA_CALIBRATE script
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def get_calibration(self):
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out = { 'radius': self.radius }
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for i, axis in enumerate('abc'):
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rail = self.rails[i]
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out['angle_'+axis] = self.angles[i]
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out['arm_'+axis] = self.arm_lengths[i]
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out['endstop_'+axis] = rail.get_homing_info().position_endstop
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out['stepdist_'+axis] = rail.get_steppers()[0].get_step_dist()
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return DeltaCalibration(out)
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endstops = [rail.get_homing_info().position_endstop
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for rail in self.rails]
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stepdists = [rail.get_steppers()[0].get_step_dist()
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for rail in self.rails]
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return DeltaCalibration(self.radius, self.angles, self.arm_lengths,
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endstops, stepdists)
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# Delta parameter calibration for DELTA_CALIBRATE tool
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class DeltaCalibration:
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def __init__(self, params):
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self.params = dict(params)
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self.radius = params['radius']
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self.angles = [params['angle_'+a] for a in 'abc']
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self.arms = [params['arm_'+a] for a in 'abc']
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self.endstops = [params['endstop_'+a] for a in 'abc']
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self.stepdists = [params['stepdist_'+a] for a in 'abc']
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def __init__(self, radius, angles, arms, endstops, stepdists):
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self.radius = radius
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self.angles = angles
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self.arms = arms
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self.endstops = endstops
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self.stepdists = stepdists
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# Calculate the XY cartesian coordinates of the delta towers
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radian_angles = [math.radians(a) for a in self.angles]
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self.towers = [(math.cos(a) * self.radius, math.sin(a) * self.radius)
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radian_angles = [math.radians(a) for a in angles]
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self.towers = [(math.cos(a) * radius, math.sin(a) * radius)
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for a in radian_angles]
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# Calculate the absolute Z height of each tower endstop
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radius2 = self.radius**2
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radius2 = radius**2
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self.abs_endstops = [e + math.sqrt(a**2 - radius2)
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for e, a in zip(self.endstops, self.arms)]
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for e, a in zip(endstops, arms)]
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def coordinate_descent_params(self, is_extended):
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# Determine adjustment parameters (for use with coordinate_descent)
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adj_params = ('radius', 'angle_a', 'angle_b',
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'endstop_a', 'endstop_b', 'endstop_c')
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if is_extended:
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adj_params += ('arm_a', 'arm_b', 'arm_c')
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params = { 'radius': self.radius }
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for i, axis in enumerate('abc'):
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params['angle_'+axis] = self.angles[i]
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params['arm_'+axis] = self.arms[i]
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params['endstop_'+axis] = self.endstops[i]
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params['stepdist_'+axis] = self.stepdists[i]
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return adj_params, params
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def new_calibration(self, params):
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# Create a new calibration object with the coordinate_descent params
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return DeltaCalibration(params)
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# Create a new calibration object from coordinate_descent params
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radius = params['radius']
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angles = [params['angle_'+a] for a in 'abc']
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arms = [params['arm_'+a] for a in 'abc']
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endstops = [params['endstop_'+a] for a in 'abc']
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stepdists = [params['stepdist_'+a] for a in 'abc']
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return DeltaCalibration(radius, angles, arms, endstops, stepdists)
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def get_position_from_stable(self, stable_position):
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# Return cartesian coordinates for the given stable_position
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sphere_coords = [
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@ -193,34 +206,25 @@ class DeltaCalibration:
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return [(ep - sp) / sd
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for sd, ep, sp in zip(self.stepdists,
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self.abs_endstops, steppos)]
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def coordinate_descent_params(self, is_extended):
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# Determine adjustment parameters (for use with coordinate_descent)
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adj_params = ('radius', 'angle_a', 'angle_b',
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'endstop_a', 'endstop_b', 'endstop_c')
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if is_extended:
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adj_params += ('arm_a', 'arm_b', 'arm_c')
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return adj_params, self.params
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def save_state(self, configfile):
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# Save the current parameters (for use with SAVE_CONFIG)
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params = self.params
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configfile.set('printer', 'delta_radius', "%.6f" % (params['radius']))
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for axis in 'abc':
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configfile.set('stepper_'+axis, 'angle',
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"%.6f" % (params['angle_'+axis],))
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configfile.set('printer', 'delta_radius', "%.6f" % (self.radius,))
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for i, axis in enumerate('abc'):
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configfile.set('stepper_'+axis, 'angle', "%.6f" % (self.angles[i],))
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configfile.set('stepper_'+axis, 'arm_length',
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"%.6f" % (params['arm_'+axis],))
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"%.6f" % (self.arms[i],))
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configfile.set('stepper_'+axis, 'position_endstop',
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"%.6f" % (params['endstop_'+axis],))
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"%.6f" % (self.endstops[i],))
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gcode = configfile.get_printer().lookup_object("gcode")
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gcode.respond_info(
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"stepper_a: position_endstop: %.6f angle: %.6f arm: %.6f\n"
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"stepper_b: position_endstop: %.6f angle: %.6f arm: %.6f\n"
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"stepper_c: position_endstop: %.6f angle: %.6f arm: %.6f\n"
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"delta_radius: %.6f\n"
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% (params['endstop_a'], params['angle_a'], params['arm_a'],
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params['endstop_b'], params['angle_b'], params['arm_b'],
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params['endstop_c'], params['angle_c'], params['arm_c'],
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params['radius']))
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"delta_radius: %.6f"
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% (self.endstops[0], self.angles[0], self.arms[0],
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self.endstops[1], self.angles[1], self.arms[1],
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self.endstops[2], self.angles[2], self.arms[2],
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self.radius))
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def load_kinematics(toolhead, config):
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return DeltaKinematics(toolhead, config)
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