tuning_tower: Tool for tuning parameters based on print Z height

This adds a testing tool that can run a command on each Z layer of a
print.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

3 files changed, 81 insertions, 0 deletions

diff --git a/docs/G-Codes.md b/docs/G-Codes.md
index cf5f2784..247a960a 100644
--- a/docs/G-Codes.md
+++ b/docs/G-Codes.md
@@ -160,6 +160,14 @@ The following standard commands are supported:
   for calibrating a Z position_endstop config setting. See the
   MANUAL_PROBE command for details on the parameters and the
   additional commands available while the tool is active.
+- `TUNING_TOWER COMMAND=<command> PARAMETER=<name> START=<value>
+  FACTOR=<value> [BAND=<value>]`: A tool for tuning a parameter on
+  each Z height during a print. The tool will run the given COMMAND
+  with the given PARAMETER assigned to the value using the formula
+  `value = start + factor * z_height`. If BAND is provided then the
+  adjustment will only be made every BAND millimeters of z height - in
+  that case the formula used is `value = start + factor *
+  ((floor(z_height / band) + .5) * band)`.
 - `SET_IDLE_TIMEOUT [TIMEOUT=<timeout>]`:  Allows the user to set the
   idle timeout (in seconds).
 - `RESTART`: This will cause the host software to reload its config
diff --git a/klippy/extras/tuning_tower.py b/klippy/extras/tuning_tower.py
new file mode 100644
index 00000000..7f536108
--- /dev/null
+++ b/klippy/extras/tuning_tower.py
@@ -0,0 +1,72 @@
+# Helper script to adjust parameters based on Z level
+#
+# Copyright (C) 2019  Kevin O'Connor <kevin@koconnor.net>
+#
+# This file may be distributed under the terms of the GNU GPLv3 license.
+import math, logging
+
+class TuningTower:
+    def __init__(self, config):
+        self.printer = config.get_printer()
+        self.normal_transform = None
+        self.last_position = [0., 0., 0., 0.]
+        self.last_z = self.start = self.factor = self.band = 0.
+        self.command = self.parameter = ""
+        # Register command
+        gcode = self.printer.lookup_object("gcode")
+        gcode.register_command("TUNING_TOWER", self.cmd_TUNING_TOWER,
+                               desc=self.cmd_TUNING_TOWER_help)
+    cmd_TUNING_TOWER_help = "Tool to adjust a parameter at each Z height"
+    def cmd_TUNING_TOWER(self, params):
+        if self.normal_transform is not None:
+            self.end_test()
+        # Get parameters
+        gcode = self.printer.lookup_object("gcode")
+        self.command = gcode.get_str('COMMAND', params)
+        self.parameter = gcode.get_str('PARAMETER', params)
+        self.start = gcode.get_float('START', params, 0.)
+        self.factor = gcode.get_float('FACTOR', params)
+        self.band = gcode.get_float('BAND', params, 0., minval=0.)
+        # Enable test mode
+        logging.info("Starting tuning test (start=%.6f factor=%.6f)",
+                     self.start, self.factor)
+        self.normal_transform = gcode.set_move_transform(self, force=True)
+        self.last_z = -99999999.9
+        gcode.reset_last_position()
+        self.get_position()
+    def get_position(self):
+        pos = self.normal_transform.get_position()
+        self.last_postition = list(pos)
+        return pos
+    def calc_value(self, z):
+        if self.band:
+            z = (math.floor(z / self.band) + .5) * self.band
+        return self.start + z * self.factor
+    def move(self, newpos, speed):
+        normal_transform = self.normal_transform
+        if (newpos[3] > self.last_position[3] and newpos[2] != self.last_z
+            and newpos[:3] != self.last_position[:3]):
+            # Extrusion move at new z height
+            z = newpos[2]
+            if z > self.last_z:
+                # Process update
+                oldval = self.calc_value(self.last_z)
+                newval = self.calc_value(z)
+                self.last_z = z
+                if newval != oldval:
+                    gcode = self.printer.lookup_object("gcode")
+                    gcode.run_script_from_command("%s %s=%.9f" % (
+                        self.command, self.parameter, newval))
+            else:
+                self.end_test()
+        # Forward move to actual handler
+        self.last_position[:] = newpos
+        normal_transform.move(newpos, speed)
+    def end_test(self):
+        gcode = self.printer.lookup_object("gcode")
+        gcode.respond_info("Ending tuning test mode")
+        gcode.set_move_transform(self.normal_transform, force=True)
+        self.normal_transform = None
+
+def load_config(config):
+    return TuningTower(config)
diff --git a/klippy/toolhead.py b/klippy/toolhead.py
index f697cb1b..b354f807 100644
--- a/klippy/toolhead.py
+++ b/klippy/toolhead.py
@@ -274,6 +274,7 @@ class ToolHead:
         self.printer.try_load_module(config, "idle_timeout")
         self.printer.try_load_module(config, "statistics")
         self.printer.try_load_module(config, "manual_probe")
+        self.printer.try_load_module(config, "tuning_tower")
     # Print time tracking
     def update_move_time(self, movetime):
         self.print_time += movetime