mirror of https://github.com/Desuuuu/klipper.git
96 lines
4.1 KiB
Python
96 lines
4.1 KiB
Python
# Bed tilt compensation
|
|
#
|
|
# Copyright (C) 2018 Kevin O'Connor <kevin@koconnor.net>
|
|
#
|
|
# This file may be distributed under the terms of the GNU GPLv3 license.
|
|
import logging
|
|
import probe
|
|
|
|
class BedTilt:
|
|
def __init__(self, config):
|
|
self.printer = config.get_printer()
|
|
self.x_adjust = config.getfloat('x_adjust', 0.)
|
|
self.y_adjust = config.getfloat('y_adjust', 0.)
|
|
if config.get('points', None) is not None:
|
|
BedTiltCalibrate(config, self)
|
|
self.toolhead = None
|
|
gcode = self.printer.lookup_object('gcode')
|
|
gcode.set_move_transform(self)
|
|
def printer_state(self, state):
|
|
if state == 'connect':
|
|
self.toolhead = self.printer.lookup_object('toolhead')
|
|
def get_position(self):
|
|
x, y, z, e = self.toolhead.get_position()
|
|
return [x, y, z - x*self.x_adjust - y*self.y_adjust, e]
|
|
def move(self, newpos, speed):
|
|
x, y, z, e = newpos
|
|
self.toolhead.move([x, y, z + x*self.x_adjust + y*self.y_adjust, e],
|
|
speed)
|
|
|
|
# Helper script to calibrate the bed tilt
|
|
class BedTiltCalibrate:
|
|
def __init__(self, config, bedtilt):
|
|
self.bedtilt = bedtilt
|
|
self.printer = config.get_printer()
|
|
points = config.get('points').split('\n')
|
|
try:
|
|
points = [line.split(',', 1) for line in points if line.strip()]
|
|
self.points = [(float(p[0].strip()), float(p[1].strip()))
|
|
for p in points]
|
|
except:
|
|
raise config.error("Unable to parse bed tilt points")
|
|
self.speed = config.getfloat('speed', 50., above=0.)
|
|
self.horizontal_move_z = config.getfloat('horizontal_move_z', 5.)
|
|
self.probe_z_offset = config.getfloat('probe_z_offset', 0.)
|
|
self.manual_probe = config.getboolean('manual_probe', None)
|
|
if self.manual_probe is None:
|
|
self.manual_probe = not config.has_section('probe')
|
|
self.gcode = self.printer.lookup_object('gcode')
|
|
self.gcode.register_command(
|
|
'BED_TILT_CALIBRATE', self.cmd_BED_TILT_CALIBRATE,
|
|
desc=self.cmd_BED_TILT_CALIBRATE_help)
|
|
cmd_BED_TILT_CALIBRATE_help = "Bed tilt calibration script"
|
|
def cmd_BED_TILT_CALIBRATE(self, params):
|
|
self.gcode.run_script("G28")
|
|
probe.ProbePointsHelper(
|
|
self.printer, self.points, self.horizontal_move_z,
|
|
self.speed, self.manual_probe, self)
|
|
def get_position(self):
|
|
kin = self.printer.lookup_object('toolhead').get_kinematics()
|
|
return kin.get_position()
|
|
def finalize(self, positions):
|
|
logging.debug("Got: %s", positions)
|
|
params = { 'x_adjust': self.bedtilt.x_adjust,
|
|
'y_adjust': self.bedtilt.y_adjust,
|
|
'z_adjust': self.probe_z_offset }
|
|
logging.debug("Params: %s", params)
|
|
def adjusted_height(pos, params):
|
|
x, y, z = pos
|
|
return (z + x*params['x_adjust'] + y*params['y_adjust']
|
|
- params['z_adjust'])
|
|
def errorfunc(params):
|
|
total_error = 0.
|
|
for pos in positions:
|
|
total_error += adjusted_height(pos, params)**2
|
|
return total_error
|
|
new_params = probe.coordinate_descent(params.keys(), params, errorfunc)
|
|
logging.debug("Got2: %s", new_params)
|
|
for pos in positions:
|
|
logging.debug("orig: %s new: %s",
|
|
adjusted_height(pos, params),
|
|
adjusted_height(pos, new_params))
|
|
z_warn = ""
|
|
z_diff = new_params['z_adjust'] - self.probe_z_offset
|
|
if abs(z_diff) > .010:
|
|
z_warn = "Note: Z offset was %.6f\n" % (z_diff,)
|
|
self.gcode.respond_info(
|
|
"%sx_adjust: %.6f y_adjust: %.6f\n"
|
|
"To use these parameters, update the printer config file with\n"
|
|
"the above and then issue a RESTART command" % (
|
|
z_warn, new_params['x_adjust'], new_params['y_adjust']))
|
|
|
|
def load_config(config):
|
|
if config.get_name() != 'bed_tilt':
|
|
raise config.error("Invalid bed_tilt config name")
|
|
return BedTilt(config)
|