mirror of https://github.com/Desuuuu/klipper.git
116 lines
5.3 KiB
Python
116 lines
5.3 KiB
Python
# 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, mathutil
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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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self.z_adjust = config.getfloat('z_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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# Register move transform with g-code class
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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 - self.z_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
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+ self.z_adjust, e], speed)
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def update_adjust(self, x_adjust, y_adjust, z_adjust):
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self.x_adjust = x_adjust
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self.y_adjust = y_adjust
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self.z_adjust = z_adjust
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configfile = self.printer.lookup_object('configfile')
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configfile.set('bed_tilt', 'x_adjust', "%.6f" % (x_adjust,))
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configfile.set('bed_tilt', 'y_adjust', "%.6f" % (y_adjust,))
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configfile.set('bed_tilt', 'z_adjust', "%.6f" % (z_adjust,))
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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.printer = config.get_printer()
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self.bedtilt = bedtilt
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self.probe_helper = probe.ProbePointsHelper(config, self.probe_finalize)
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# Automatic probe:z_virtual_endstop XY detection
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self.z_position_endstop = None
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if config.has_section('stepper_z'):
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zconfig = config.getsection('stepper_z')
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self.z_position_endstop = zconfig.getfloat('position_endstop', None)
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# Register BED_TILT_CALIBRATE command
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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_from_command("G28")
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self.probe_helper.start_probe()
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def probe_finalize(self, offsets, positions):
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z_offset = offsets[2]
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logging.info("Calculating bed_tilt with: %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': z_offset }
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logging.info("Initial bed_tilt parameters: %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 = mathutil.coordinate_descent(
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params.keys(), params, errorfunc)
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logging.info("Calculated bed_tilt parameters: %s", new_params)
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for pos in positions:
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logging.info("orig: %s new: %s", adjusted_height(pos, params),
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adjusted_height(pos, new_params))
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# Update current bed_tilt calculations
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z_diff = new_params['z_adjust'] - z_offset
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bed_tilt = self.printer.lookup_object('bed_tilt')
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bed_tilt.update_adjust(new_params['x_adjust'], new_params['y_adjust'],
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z_diff)
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self.gcode.reset_last_position()
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# Report results back to user
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if self.z_position_endstop is not None:
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# Cartesian style robot
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z_extra = ""
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probe = self.printer.lookup_object('probe', None)
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if probe is not None:
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last_home_position = probe.last_home_position()
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if last_home_position is not None:
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# Using z_virtual_endstop
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home_x, home_y = last_home_position[:2]
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z_diff -= home_x * new_params['x_adjust']
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z_diff -= home_y * new_params['y_adjust']
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z_extra = " (when Z homing at %.3f,%.3f)" % (home_x, home_y)
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z_adjust = "stepper_z position_endstop: %.6f%s\n" % (
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self.z_position_endstop - z_diff, z_extra)
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else:
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# Delta (or other) style robot
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z_adjust = "Add %.6f to endstop position\n" % (-z_diff,)
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msg = "%sx_adjust: %.6f y_adjust: %.6f" % (
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z_adjust, new_params['x_adjust'], new_params['y_adjust'])
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self.printer.set_rollover_info("bed_tilt", "bed_tilt: %s" % (msg,))
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self.gcode.respond_info(
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"%s\nThe above parameters have been applied to the current\n"
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"session. The SAVE_CONFIG command will update the printer\n"
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"config file and restart the printer." % (msg,))
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def load_config(config):
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return BedTilt(config)
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