mirror of https://github.com/Desuuuu/klipper.git
126 lines
5.5 KiB
Python
126 lines
5.5 KiB
Python
# Mechanicaly conforms a moving gantry to the bed with 4 Z steppers
|
|
#
|
|
# Copyright (C) 2018 Maks Zolin <mzolin@vorondesign.com>
|
|
#
|
|
# This file may be distributed under the terms of the GNU GPLv3 license.
|
|
import logging
|
|
import probe
|
|
|
|
class QuadGantryLevel:
|
|
def __init__(self, config):
|
|
self.printer = config.get_printer()
|
|
self.horizontal_move_z = config.getfloat("horizontal_move_z", 5.0)
|
|
self.printer.register_event_handler("klippy:connect",
|
|
self.handle_connect)
|
|
self.probe_helper = probe.ProbePointsHelper(config, self.probe_finalize)
|
|
gantry_corners = config.get('gantry_corners').split('\n')
|
|
try:
|
|
gantry_corners = [line.split(',', 1)
|
|
for line in gantry_corners if line.strip()]
|
|
self.gantry_corners = [(float(zp[0].strip()), float(zp[1].strip()))
|
|
for zp in gantry_corners]
|
|
except:
|
|
raise config.error("Unable to parse gantry_corners in %s" % (
|
|
config.get_name()))
|
|
if len(self.gantry_corners) < 2:
|
|
raise config.error(
|
|
"quad_gantry_level requires at least two gantry_corners")
|
|
self.z_steppers = []
|
|
# Register QUAD_GANTRY_LEVEL command
|
|
self.gcode = self.printer.lookup_object('gcode')
|
|
self.gcode.register_command(
|
|
'QUAD_GANTRY_LEVEL', self.cmd_QUAD_GANTRY_LEVEL,
|
|
desc=self.cmd_QUAD_GANTRY_LEVEL_help)
|
|
def handle_connect(self):
|
|
kin = self.printer.lookup_object('toolhead').get_kinematics()
|
|
z_steppers = kin.get_steppers('Z')
|
|
if len(z_steppers) != 4:
|
|
raise self.printer.config_error(
|
|
"quad_gantry_level needs exactly 4 z steppers")
|
|
self.z_steppers = z_steppers
|
|
cmd_QUAD_GANTRY_LEVEL_help = (
|
|
"Conform a moving, twistable gantry to the shape of a stationary bed")
|
|
def cmd_QUAD_GANTRY_LEVEL(self, params):
|
|
self.probe_helper.start_probe(params)
|
|
def probe_finalize(self, offsets, positions):
|
|
# Mirror our perspective so the adjustments make sense
|
|
# from the perspective of the gantry
|
|
z_positions = [self.horizontal_move_z - p[2] for p in positions]
|
|
points_message = "Gantry-relative probe points:\n%s\n" % (
|
|
"\n".join(["z%s = %.6f" % (z_id, z_positions[z_id])
|
|
for z_id in range(len(z_positions))]))
|
|
self.gcode.respond_info(points_message)
|
|
p1 = [positions[0][0] + offsets[0],z_positions[0]]
|
|
p2 = [positions[1][0] + offsets[0],z_positions[1]]
|
|
p3 = [positions[2][0] + offsets[0],z_positions[2]]
|
|
p4 = [positions[3][0] + offsets[0],z_positions[3]]
|
|
f1 = self.linefit(p1,p4)
|
|
f2 = self.linefit(p2,p3)
|
|
logging.info("quad_gantry_level f1: %s, f2: %s" % (f1,f2))
|
|
a1 = [positions[0][1] + offsets[1],
|
|
self.plot(f1,self.gantry_corners[0][0])]
|
|
a2 = [positions[1][1] + offsets[1],
|
|
self.plot(f2,self.gantry_corners[0][0])]
|
|
b1 = [positions[0][1] + offsets[1],
|
|
self.plot(f1,self.gantry_corners[1][0])]
|
|
b2 = [positions[1][1] + offsets[1],
|
|
self.plot(f2,self.gantry_corners[1][0])]
|
|
af = self.linefit(a1,a2)
|
|
bf = self.linefit(b1,b2)
|
|
logging.info("quad_gantry_level af: %s, bf: %s" % (af,bf))
|
|
z_height = [0,0,0,0]
|
|
z_height[0] = self.plot(af,self.gantry_corners[0][1])
|
|
z_height[1] = self.plot(af,self.gantry_corners[1][1])
|
|
z_height[2] = self.plot(bf,self.gantry_corners[1][1])
|
|
z_height[3] = self.plot(bf,self.gantry_corners[0][1])
|
|
self.gcode.respond_info("Actuator Positions:\n z1: %0.6f\n z2: %0.6f\
|
|
\n z3: %0.6f\n z4: %0.6f\n" % (
|
|
z_height[0],z_height[1],z_height[2],z_height[3]))
|
|
z_ave = sum(z_height) / len(z_height)
|
|
self.gcode.respond_info("Average: %0.6f" % z_ave)
|
|
z_adjust = []
|
|
for z in z_height:
|
|
z_adjust.append(z_ave - z)
|
|
try:
|
|
self.adjust_steppers(z_adjust)
|
|
except:
|
|
logging.exception("quad_gantry_level adjust_steppers")
|
|
for s in self.z_steppers:
|
|
s.set_ignore_move(False)
|
|
raise
|
|
def linefit(self,p1,p2):
|
|
if p1[1] == p2[1]:
|
|
# Straight line
|
|
return 0,p1[1]
|
|
m = (p2[1] - p1[1])/(p2[0] - p1[0])
|
|
b = p1[1] - m * p1[0]
|
|
return m,b
|
|
def plot(self,f,x):
|
|
return f[0]*x + f[1]
|
|
def adjust_steppers(self, z_adjust):
|
|
msg = "Making the following gantry adjustments:\n%s\n" % (
|
|
"\n".join(["%s = %.6f" % (
|
|
self.z_steppers[z_id].get_name(), z_adjust[z_id]
|
|
) for z_id in range(4)]))
|
|
self.gcode.respond_info(msg)
|
|
toolhead = self.printer.lookup_object('toolhead')
|
|
cur_pos = toolhead.get_position()
|
|
speed = self.probe_helper.get_lift_speed()
|
|
# Disable moves on all Z steppers
|
|
for s in self.z_steppers:
|
|
s.set_ignore_move(True)
|
|
for z_id in range(len(z_adjust)):
|
|
stepper = self.z_steppers[z_id]
|
|
stepper.set_ignore_move(False)
|
|
cur_pos[2] = cur_pos[2] + z_adjust[z_id]
|
|
toolhead.move(cur_pos, speed)
|
|
toolhead.set_position(cur_pos)
|
|
stepper.set_ignore_move(True)
|
|
# Re-enable moves on all Z steppers
|
|
for s in self.z_steppers:
|
|
s.set_ignore_move(False)
|
|
self.gcode.reset_last_position()
|
|
|
|
def load_config(config):
|
|
return QuadGantryLevel(config)
|