mirror of https://github.com/Desuuuu/klipper.git
173 lines
7.4 KiB
Python
173 lines
7.4 KiB
Python
# Helper script for manual z height probing
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#
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# Copyright (C) 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, bisect
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import homing
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class ManualProbe:
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def __init__(self, config):
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self.printer = config.get_printer()
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# Register commands
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self.gcode = self.printer.lookup_object('gcode')
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self.gcode.register_command('MANUAL_PROBE', self.cmd_MANUAL_PROBE,
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desc=self.cmd_MANUAL_PROBE_help)
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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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if zconfig.get_prefix_options('position_endstop'):
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self.z_position_endstop = zconfig.getfloat('position_endstop')
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self.gcode.register_command(
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'Z_ENDSTOP_CALIBRATE', self.cmd_Z_ENDSTOP_CALIBRATE,
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desc=self.cmd_Z_ENDSTOP_CALIBRATE_help)
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def manual_probe_finalize(self, kin_pos):
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if kin_pos is not None:
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self.gcode.respond_info("Z position is %.3f" % (kin_pos[2],))
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cmd_MANUAL_PROBE_help = "Start manual probe helper script"
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def cmd_MANUAL_PROBE(self, params):
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ManualProbeHelper(self.printer, params, self.manual_probe_finalize)
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def z_endstop_finalize(self, kin_pos):
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if kin_pos is None:
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return
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z_pos = self.z_position_endstop - kin_pos[2]
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self.gcode.respond_info(
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"stepper_z: position_endstop: %.3f\n"
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"The SAVE_CONFIG command will update the printer config file\n"
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"with the above and restart the printer." % (z_pos,))
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configfile = self.printer.lookup_object('configfile')
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configfile.set('stepper_z', 'position_endstop', "%.3f" % (z_pos,))
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cmd_Z_ENDSTOP_CALIBRATE_help = "Calibrate a Z endstop"
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def cmd_Z_ENDSTOP_CALIBRATE(self, params):
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ManualProbeHelper(self.printer, params, self.z_endstop_finalize)
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Z_BOB_MINIMUM = 0.500
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BISECT_MAX = 0.200
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# Helper script to determine a Z height
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class ManualProbeHelper:
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def __init__(self, printer, params, finalize_callback):
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self.printer = printer
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self.finalize_callback = finalize_callback
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self.gcode = self.printer.lookup_object('gcode')
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self.toolhead = self.printer.lookup_object('toolhead')
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self.speed = self.gcode.get_float("SPEED", params, 5.)
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self.past_positions = []
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self.last_toolhead_pos = self.last_kinematics_pos = None
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# Register commands
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try:
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self.gcode.register_command('ACCEPT', self.cmd_ACCEPT,
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desc=self.cmd_ACCEPT_help)
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except self.printer.config_error as e:
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self.gcode.respond_error(
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"Already in a manual Z probe. Use ABORT to abort it.")
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self.finalize_callback(None)
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return
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self.gcode.register_command('NEXT', self.cmd_ACCEPT)
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self.gcode.register_command('ABORT', self.cmd_ABORT,
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desc=self.cmd_ABORT_help)
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self.gcode.register_command('TESTZ', self.cmd_TESTZ,
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desc=self.cmd_TESTZ_help)
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self.gcode.respond_info(
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"Starting manual Z probe. Use TESTZ to adjust position.\n"
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"Finish with ACCEPT or ABORT command.")
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self.start_position = self.toolhead.get_position()
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self.report_z_status()
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def get_kinematics_pos(self):
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toolhead_pos = self.toolhead.get_position()
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if toolhead_pos == self.last_toolhead_pos:
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return self.last_kinematics_pos
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self.toolhead.get_last_move_time()
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kin_pos = self.toolhead.get_kinematics().calc_position()
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self.last_toolhead_pos = toolhead_pos
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self.last_kinematics_pos = kin_pos
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return kin_pos
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def move_z(self, z_pos):
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curpos = self.toolhead.get_position()
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try:
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if curpos[2] - z_pos < Z_BOB_MINIMUM:
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curpos[2] = z_pos + Z_BOB_MINIMUM
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self.toolhead.move(curpos, self.speed)
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curpos[2] = z_pos
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self.toolhead.move(curpos, self.speed)
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except homing.EndstopError as e:
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self.finalize(False)
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raise self.gcode.error(str(e))
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def report_z_status(self, warn_no_change=False, prev_pos=None):
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# Get position
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kin_pos = self.get_kinematics_pos()
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z_pos = kin_pos[2]
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if warn_no_change and z_pos == prev_pos:
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self.gcode.respond_info(
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"WARNING: No change in position (reached stepper resolution)")
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# Find recent positions that were tested
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pp = self.past_positions
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next_pos = bisect.bisect_left(pp, z_pos)
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prev_pos = next_pos - 1
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if next_pos < len(pp) and pp[next_pos] == z_pos:
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next_pos += 1
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prev_str = next_str = "??????"
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if prev_pos >= 0:
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prev_str = "%.3f" % (pp[prev_pos],)
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if next_pos < len(pp):
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next_str = "%.3f" % (pp[next_pos],)
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# Find recent positions
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self.gcode.respond_info("Z position: %s --> %.3f <-- %s" % (
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prev_str, z_pos, next_str))
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cmd_ACCEPT_help = "Accept the current Z position"
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def cmd_ACCEPT(self, params):
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pos = self.toolhead.get_position()
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start_pos = self.start_position
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if pos[:2] != start_pos[:2] or pos[2] >= start_pos[2]:
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self.gcode.respond_info(
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"Manual probe failed! Use TESTZ commands to position the\n"
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"nozzle prior to running ACCEPT.")
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self.finalize(False)
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return
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self.finalize(True)
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cmd_ABORT_help = "Abort manual Z probing tool"
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def cmd_ABORT(self, params):
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self.finalize(False)
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cmd_TESTZ_help = "Move to new Z height"
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def cmd_TESTZ(self, params):
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# Store current position for later reference
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kin_pos = self.get_kinematics_pos()
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z_pos = kin_pos[2]
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pp = self.past_positions
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insert_pos = bisect.bisect_left(pp, z_pos)
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if insert_pos >= len(pp) or pp[insert_pos] != z_pos:
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pp.insert(insert_pos, z_pos)
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# Determine next position to move to
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req = self.gcode.get_str("Z", params)
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if req in ('+', '++'):
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check_z = 9999999999999.9
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if insert_pos < len(self.past_positions) - 1:
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check_z = self.past_positions[insert_pos + 1]
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if req == '+':
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check_z = (check_z + z_pos) / 2.
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next_z_pos = min(check_z, z_pos + BISECT_MAX)
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elif req in ('-', '--'):
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check_z = -9999999999999.9
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if insert_pos > 0:
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check_z = self.past_positions[insert_pos - 1]
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if req == '-':
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check_z = (check_z + z_pos) / 2.
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next_z_pos = max(check_z, z_pos - BISECT_MAX)
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else:
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next_z_pos = z_pos + self.gcode.get_float("Z", params)
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# Move to given position and report it
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self.move_z(next_z_pos)
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self.report_z_status(next_z_pos != z_pos, z_pos)
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def finalize(self, success):
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self.gcode.register_command('ACCEPT', None)
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self.gcode.register_command('NEXT', None)
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self.gcode.register_command('ABORT', None)
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self.gcode.register_command('TESTZ', None)
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kin_pos = None
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if success:
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kin_pos = self.get_kinematics_pos()
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self.finalize_callback(kin_pos)
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def load_config(config):
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return ManualProbe(config)
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