mirror of https://github.com/Desuuuu/klipper.git
probe: Add support for samples_tolerance
Add a check on the maximum Z distance between probe samples. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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@ -39,6 +39,18 @@
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#samples_result: average
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#samples_result: average
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# The calculation method when sampling more than once - either
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# The calculation method when sampling more than once - either
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# "median" or "average". The default is average.
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# "median" or "average". The default is average.
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#samples_tolerance: 0.100
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# The maximum Z distance (in mm) that a sample may differ from other
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# samples. If this tolerance is exceeded then either an error is
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# reported or the attempt is restarted (see
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# samples_tolerance_retries). The default is 0.100mm.
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#samples_tolerance_retries: 0
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# The number of times to retry if a sample is found that exceeds
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# samples_tolerance. On a retry, all current samples are discarded
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# and the probe attempt is restarted. If a valid set of samples are
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# not obtained in the given number of retries then an error is
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# reported. The default is zero which causes an error to be reported
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# on the first sample that exceeds samples_tolerance.
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#activate_gcode:
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#activate_gcode:
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# A list of G-Code commands to execute prior to each probe attempt.
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# A list of G-Code commands to execute prior to each probe attempt.
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# See docs/Command_Templates.md for G-Code format. This may be
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# See docs/Command_Templates.md for G-Code format. This may be
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@ -31,11 +31,13 @@ class PrinterProbe:
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self.z_position = pconfig.getfloat('minimum_z_position', 0.)
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self.z_position = pconfig.getfloat('minimum_z_position', 0.)
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# Multi-sample support (for improved accuracy)
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# Multi-sample support (for improved accuracy)
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self.samples = config.getint('samples', 1, minval=1)
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self.samples = config.getint('samples', 1, minval=1)
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self.sample_retract_dist = config.getfloat(
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self.sample_retract_dist = config.getfloat('sample_retract_dist', 2.,
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'sample_retract_dist', 2., above=0.)
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above=0.)
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atypes = {'median': 'median', 'average': 'average'}
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atypes = {'median': 'median', 'average': 'average'}
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self.samples_result = config.getchoice('samples_result', atypes,
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self.samples_result = config.getchoice('samples_result', atypes,
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'average')
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'average')
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self.samples_tolerance = config.getfloat('samples_tolerance', 0.100)
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self.samples_retries = config.getint('samples_tolerance_retries', 0)
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# Register z_virtual_endstop pin
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# Register z_virtual_endstop pin
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self.printer.lookup_object('pins').register_chip('probe', self)
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self.printer.lookup_object('pins').register_chip('probe', self)
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# Register PROBE/QUERY_PROBE commands
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# Register PROBE/QUERY_PROBE commands
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@ -97,14 +99,27 @@ class PrinterProbe:
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# even number of samples
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# even number of samples
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return self._calc_mean(z_sorted[middle-1:middle+1])
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return self._calc_mean(z_sorted[middle-1:middle+1])
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def run_probe(self):
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def run_probe(self):
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retries = 0
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positions = []
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positions = []
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for i in range(self.samples):
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while len(positions) < self.samples:
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# Probe position
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pos = self._probe(self.speed)
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pos = self._probe(self.speed)
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positions.append(pos)
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positions.append(pos)
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if i < self.samples - 1:
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# Check samples tolerance
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# retract
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z_positions = [p[2] for p in positions]
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if max(z_positions) - min(z_positions) > self.samples_tolerance:
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if retries >= self.samples_retries:
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raise homing.CommandError(
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"Probe samples exceed samples_tolerance")
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self.gcode.respond_info(
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"Probe samples exceed tolerance. Retrying...")
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retries += 1
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positions = []
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# Retract
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if len(positions) < self.samples:
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liftpos = [None, None, pos[2] + self.sample_retract_dist]
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liftpos = [None, None, pos[2] + self.sample_retract_dist]
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self._move(liftpos, self.speed)
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self._move(liftpos, self.speed)
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# Calculate and return result
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if self.samples_result == 'median':
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if self.samples_result == 'median':
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return self._calc_median(positions)
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return self._calc_median(positions)
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return self._calc_mean(positions)
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return self._calc_mean(positions)
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