mirror of https://github.com/Desuuuu/klipper.git
197 lines
8.6 KiB
Python
197 lines
8.6 KiB
Python
# Helper script for manual z height probing
|
|
#
|
|
# Copyright (C) 2019 Kevin O'Connor <kevin@koconnor.net>
|
|
#
|
|
# This file may be distributed under the terms of the GNU GPLv3 license.
|
|
import logging, bisect
|
|
|
|
class ManualProbe:
|
|
def __init__(self, config):
|
|
self.printer = config.get_printer()
|
|
# Register commands
|
|
self.gcode = self.printer.lookup_object('gcode')
|
|
self.gcode_move = self.printer.load_object(config, "gcode_move")
|
|
self.gcode.register_command('MANUAL_PROBE', self.cmd_MANUAL_PROBE,
|
|
desc=self.cmd_MANUAL_PROBE_help)
|
|
zconfig = config.getsection('stepper_z')
|
|
self.z_position_endstop = zconfig.getfloat('position_endstop', None,
|
|
note_valid=False)
|
|
if self.z_position_endstop is not None:
|
|
self.gcode.register_command(
|
|
'Z_ENDSTOP_CALIBRATE', self.cmd_Z_ENDSTOP_CALIBRATE,
|
|
desc=self.cmd_Z_ENDSTOP_CALIBRATE_help)
|
|
self.gcode.register_command(
|
|
'Z_OFFSET_APPLY_ENDSTOP',
|
|
self.cmd_Z_OFFSET_APPLY_ENDSTOP,
|
|
desc=self.cmd_Z_OFFSET_APPLY_ENDSTOP_help)
|
|
def manual_probe_finalize(self, kin_pos):
|
|
if kin_pos is not None:
|
|
self.gcode.respond_info("Z position is %.3f" % (kin_pos[2],))
|
|
cmd_MANUAL_PROBE_help = "Start manual probe helper script"
|
|
def cmd_MANUAL_PROBE(self, gcmd):
|
|
ManualProbeHelper(self.printer, gcmd, self.manual_probe_finalize)
|
|
def z_endstop_finalize(self, kin_pos):
|
|
if kin_pos is None:
|
|
return
|
|
z_pos = self.z_position_endstop - kin_pos[2]
|
|
self.gcode.respond_info(
|
|
"stepper_z: position_endstop: %.3f\n"
|
|
"The SAVE_CONFIG command will update the printer config file\n"
|
|
"with the above and restart the printer." % (z_pos,))
|
|
configfile = self.printer.lookup_object('configfile')
|
|
configfile.set('stepper_z', 'position_endstop', "%.3f" % (z_pos,))
|
|
cmd_Z_ENDSTOP_CALIBRATE_help = "Calibrate a Z endstop"
|
|
def cmd_Z_ENDSTOP_CALIBRATE(self, gcmd):
|
|
ManualProbeHelper(self.printer, gcmd, self.z_endstop_finalize)
|
|
def cmd_Z_OFFSET_APPLY_ENDSTOP(self,gcmd):
|
|
offset = self.gcode_move.get_status()['homing_origin'].z
|
|
configfile = self.printer.lookup_object('configfile')
|
|
if offset == 0:
|
|
self.gcode.respond_info("Nothing to do: Z Offset is 0")
|
|
else:
|
|
new_calibrate = self.z_position_endstop - offset
|
|
self.gcode.respond_info(
|
|
"stepper_z: position_endstop: %.3f\n"
|
|
"The SAVE_CONFIG command will update the printer config file\n"
|
|
"with the above and restart the printer." % (new_calibrate))
|
|
configfile.set('stepper_z', 'position_endstop',
|
|
"%.3f" % (new_calibrate,))
|
|
cmd_Z_OFFSET_APPLY_ENDSTOP_help = "Adjust the z endstop_position"
|
|
|
|
# Verify that a manual probe isn't already in progress
|
|
def verify_no_manual_probe(printer):
|
|
gcode = printer.lookup_object('gcode')
|
|
try:
|
|
gcode.register_command('ACCEPT', 'dummy')
|
|
except printer.config_error as e:
|
|
raise gcode.error(
|
|
"Already in a manual Z probe. Use ABORT to abort it.")
|
|
gcode.register_command('ACCEPT', None)
|
|
|
|
Z_BOB_MINIMUM = 0.500
|
|
BISECT_MAX = 0.200
|
|
|
|
# Helper script to determine a Z height
|
|
class ManualProbeHelper:
|
|
def __init__(self, printer, gcmd, finalize_callback):
|
|
self.printer = printer
|
|
self.finalize_callback = finalize_callback
|
|
self.gcode = self.printer.lookup_object('gcode')
|
|
self.toolhead = self.printer.lookup_object('toolhead')
|
|
self.speed = gcmd.get_float("SPEED", 5.)
|
|
self.past_positions = []
|
|
self.last_toolhead_pos = self.last_kinematics_pos = None
|
|
# Register commands
|
|
verify_no_manual_probe(printer)
|
|
self.gcode.register_command('ACCEPT', self.cmd_ACCEPT,
|
|
desc=self.cmd_ACCEPT_help)
|
|
self.gcode.register_command('NEXT', self.cmd_ACCEPT)
|
|
self.gcode.register_command('ABORT', self.cmd_ABORT,
|
|
desc=self.cmd_ABORT_help)
|
|
self.gcode.register_command('TESTZ', self.cmd_TESTZ,
|
|
desc=self.cmd_TESTZ_help)
|
|
self.gcode.respond_info(
|
|
"Starting manual Z probe. Use TESTZ to adjust position.\n"
|
|
"Finish with ACCEPT or ABORT command.")
|
|
self.start_position = self.toolhead.get_position()
|
|
self.report_z_status()
|
|
def get_kinematics_pos(self):
|
|
toolhead_pos = self.toolhead.get_position()
|
|
if toolhead_pos == self.last_toolhead_pos:
|
|
return self.last_kinematics_pos
|
|
self.toolhead.flush_step_generation()
|
|
kin = self.toolhead.get_kinematics()
|
|
kin_spos = {s.get_name(): s.get_commanded_position()
|
|
for s in kin.get_steppers()}
|
|
kin_pos = kin.calc_position(kin_spos)
|
|
self.last_toolhead_pos = toolhead_pos
|
|
self.last_kinematics_pos = kin_pos
|
|
return kin_pos
|
|
def move_z(self, z_pos):
|
|
curpos = self.toolhead.get_position()
|
|
try:
|
|
z_bob_pos = z_pos + Z_BOB_MINIMUM
|
|
if curpos[2] < z_bob_pos:
|
|
self.toolhead.manual_move([None, None, z_bob_pos], self.speed)
|
|
self.toolhead.manual_move([None, None, z_pos], self.speed)
|
|
except self.printer.command_error as e:
|
|
self.finalize(False)
|
|
raise
|
|
def report_z_status(self, warn_no_change=False, prev_pos=None):
|
|
# Get position
|
|
kin_pos = self.get_kinematics_pos()
|
|
z_pos = kin_pos[2]
|
|
if warn_no_change and z_pos == prev_pos:
|
|
self.gcode.respond_info(
|
|
"WARNING: No change in position (reached stepper resolution)")
|
|
# Find recent positions that were tested
|
|
pp = self.past_positions
|
|
next_pos = bisect.bisect_left(pp, z_pos)
|
|
prev_pos = next_pos - 1
|
|
if next_pos < len(pp) and pp[next_pos] == z_pos:
|
|
next_pos += 1
|
|
prev_str = next_str = "??????"
|
|
if prev_pos >= 0:
|
|
prev_str = "%.3f" % (pp[prev_pos],)
|
|
if next_pos < len(pp):
|
|
next_str = "%.3f" % (pp[next_pos],)
|
|
# Find recent positions
|
|
self.gcode.respond_info("Z position: %s --> %.3f <-- %s"
|
|
% (prev_str, z_pos, next_str))
|
|
cmd_ACCEPT_help = "Accept the current Z position"
|
|
def cmd_ACCEPT(self, gcmd):
|
|
pos = self.toolhead.get_position()
|
|
start_pos = self.start_position
|
|
if pos[:2] != start_pos[:2] or pos[2] >= start_pos[2]:
|
|
gcmd.respond_info(
|
|
"Manual probe failed! Use TESTZ commands to position the\n"
|
|
"nozzle prior to running ACCEPT.")
|
|
self.finalize(False)
|
|
return
|
|
self.finalize(True)
|
|
cmd_ABORT_help = "Abort manual Z probing tool"
|
|
def cmd_ABORT(self, gcmd):
|
|
self.finalize(False)
|
|
cmd_TESTZ_help = "Move to new Z height"
|
|
def cmd_TESTZ(self, gcmd):
|
|
# Store current position for later reference
|
|
kin_pos = self.get_kinematics_pos()
|
|
z_pos = kin_pos[2]
|
|
pp = self.past_positions
|
|
insert_pos = bisect.bisect_left(pp, z_pos)
|
|
if insert_pos >= len(pp) or pp[insert_pos] != z_pos:
|
|
pp.insert(insert_pos, z_pos)
|
|
# Determine next position to move to
|
|
req = gcmd.get("Z")
|
|
if req in ('+', '++'):
|
|
check_z = 9999999999999.9
|
|
if insert_pos < len(self.past_positions) - 1:
|
|
check_z = self.past_positions[insert_pos + 1]
|
|
if req == '+':
|
|
check_z = (check_z + z_pos) / 2.
|
|
next_z_pos = min(check_z, z_pos + BISECT_MAX)
|
|
elif req in ('-', '--'):
|
|
check_z = -9999999999999.9
|
|
if insert_pos > 0:
|
|
check_z = self.past_positions[insert_pos - 1]
|
|
if req == '-':
|
|
check_z = (check_z + z_pos) / 2.
|
|
next_z_pos = max(check_z, z_pos - BISECT_MAX)
|
|
else:
|
|
next_z_pos = z_pos + gcmd.get_float("Z")
|
|
# Move to given position and report it
|
|
self.move_z(next_z_pos)
|
|
self.report_z_status(next_z_pos != z_pos, z_pos)
|
|
def finalize(self, success):
|
|
self.gcode.register_command('ACCEPT', None)
|
|
self.gcode.register_command('NEXT', None)
|
|
self.gcode.register_command('ABORT', None)
|
|
self.gcode.register_command('TESTZ', None)
|
|
kin_pos = None
|
|
if success:
|
|
kin_pos = self.get_kinematics_pos()
|
|
self.finalize_callback(kin_pos)
|
|
|
|
def load_config(config):
|
|
return ManualProbe(config)
|