mirror of https://github.com/Desuuuu/klipper.git
168 lines
7.3 KiB
Python
168 lines
7.3 KiB
Python
# Mechanical bed tilt calibration with multiple Z steppers
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#
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# Copyright (C) 2018-2019 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 ZAdjustHelper:
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def __init__(self, config, z_count):
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self.printer = config.get_printer()
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self.name = config.get_name()
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self.z_count = z_count
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self.z_steppers = []
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self.printer.register_event_handler("klippy:connect",
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self.handle_connect)
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def handle_connect(self):
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kin = self.printer.lookup_object('toolhead').get_kinematics()
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z_steppers = kin.get_steppers('Z')
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if len(z_steppers) != self.z_count:
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raise self.printer.config_error(
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"%s z_positions needs exactly %d items" % (
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self.name, len(z_steppers)))
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if len(z_steppers) < 2:
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raise self.printer.config_error(
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"%s requires multiple z steppers" % (self.name,))
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self.z_steppers = z_steppers
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def adjust_steppers(self, adjustments, speed):
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toolhead = self.printer.lookup_object('toolhead')
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gcode = self.printer.lookup_object('gcode')
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curpos = toolhead.get_position()
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# Report on movements
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stepstrs = ["%s = %.6f" % (s.get_name(), a)
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for s, a in zip(self.z_steppers, adjustments)]
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msg = "Making the following Z adjustments:\n%s" % ("\n".join(stepstrs),)
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gcode.respond_info(msg)
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# Disable Z stepper movements
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toolhead.flush_step_generation()
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for s in self.z_steppers:
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s.set_trapq(None)
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# Move each z stepper (sorted from lowest to highest) until they match
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positions = [(-a, s) for a, s in zip(adjustments, self.z_steppers)]
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positions.sort()
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first_stepper_offset, first_stepper = positions[0]
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z_low = curpos[2] - first_stepper_offset
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for i in range(len(positions)-1):
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stepper_offset, stepper = positions[i]
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next_stepper_offset, next_stepper = positions[i+1]
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toolhead.flush_step_generation()
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stepper.set_trapq(toolhead.get_trapq())
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curpos[2] = z_low + next_stepper_offset
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try:
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toolhead.move(curpos, speed)
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toolhead.set_position(curpos)
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except:
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logging.exception("ZAdjustHelper adjust_steppers")
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toolhead.flush_step_generation()
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for s in self.z_steppers:
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s.set_trapq(toolhead.get_trapq())
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raise
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# Z should now be level - do final cleanup
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last_stepper_offset, last_stepper = positions[-1]
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toolhead.flush_step_generation()
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last_stepper.set_trapq(toolhead.get_trapq())
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curpos[2] += first_stepper_offset
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toolhead.set_position(curpos)
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gcode.reset_last_position()
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class RetryHelper:
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def __init__(self, config, error_msg_extra = ""):
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self.gcode = config.get_printer().lookup_object('gcode')
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self.default_max_retries = config.getint("retries", 0, minval=0)
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self.default_retry_tolerance = \
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config.getfloat("retry_tolerance", 0., above=0.)
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self.value_label = "Probed points range"
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self.error_msg_extra = error_msg_extra
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def start(self, params):
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self.max_retries = self.gcode.get_int('RETRIES', params,
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default=self.default_max_retries, minval=0, maxval=30)
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self.retry_tolerance = self.gcode.get_float('RETRY_TOLERANCE', params,
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default=self.default_retry_tolerance, minval=0, maxval=1.0)
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self.current_retry = 0
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self.previous = None
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self.increasing = 0
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def check_increase(self,error):
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if self.previous and error > self.previous + 0.0000001:
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self.increasing += 1
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elif self.increasing > 0:
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self.increasing -= 1
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self.previous = error
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return self.increasing > 1
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def check_retry(self,z_positions):
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if self.max_retries == 0:
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return
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error = max(z_positions) - min(z_positions)
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if self.check_increase(error):
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self.gcode.respond_error(
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"Retries aborting: %s is increasing. %s" % (
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self.value_label, self.error_msg_extra))
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return
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self.gcode.respond_info(
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"Retries: %d/%d %s: %0.6f tolerance: %0.6f" % (
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self.current_retry, self.max_retries, self.value_label,
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error, self.retry_tolerance))
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if error <= self.retry_tolerance:
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return "done"
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self.current_retry += 1
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if self.current_retry > self.max_retries:
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self.gcode.respond_error("Too many retries")
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return
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return "retry"
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class ZTilt:
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def __init__(self, config):
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self.printer = config.get_printer()
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z_positions = config.get('z_positions').split('\n')
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try:
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z_positions = [line.split(',', 1)
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for line in z_positions if line.strip()]
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self.z_positions = [(float(zp[0].strip()), float(zp[1].strip()))
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for zp in z_positions]
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except:
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raise config.error("Unable to parse z_positions in %s" % (
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config.get_name()))
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self.retry_helper = RetryHelper(config)
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self.probe_helper = probe.ProbePointsHelper(config, self.probe_finalize)
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self.probe_helper.minimum_points(2)
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self.z_helper = ZAdjustHelper(config, len(self.z_positions))
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# Register Z_TILT_ADJUST command
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self.gcode = self.printer.lookup_object('gcode')
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self.gcode.register_command('Z_TILT_ADJUST', self.cmd_Z_TILT_ADJUST,
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desc=self.cmd_Z_TILT_ADJUST_help)
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cmd_Z_TILT_ADJUST_help = "Adjust the Z tilt"
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def cmd_Z_TILT_ADJUST(self, params):
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self.retry_helper.start(params)
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self.probe_helper.start_probe(params)
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def probe_finalize(self, offsets, positions):
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# Setup for coordinate descent analysis
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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': 0., 'y_adjust': 0., 'z_adjust': z_offset }
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# Perform coordinate descent
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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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# Apply results
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speed = self.probe_helper.get_lift_speed()
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logging.info("Calculated bed tilt parameters: %s", new_params)
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x_adjust = new_params['x_adjust']
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y_adjust = new_params['y_adjust']
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z_adjust = (new_params['z_adjust'] - z_offset
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- x_adjust * offsets[0] - y_adjust * offsets[1])
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adjustments = [x*x_adjust + y*y_adjust + z_adjust
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for x, y in self.z_positions]
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self.z_helper.adjust_steppers(adjustments, speed)
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return self.retry_helper.check_retry([p[2] for p in positions])
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def load_config(config):
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return ZTilt(config)
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