screws_tilt_adjust: Add new screws_tilt_adjust tool (#1367)

Signed-off-by: Rui Caridade <rui.mcbc@gmail.com>

2 files changed, 120 insertions, 3 deletions

diff --git a/klippy/extras/probe.py b/klippy/extras/probe.py
index aa5f1d05..83871d15 100644
--- a/klippy/extras/probe.py
+++ b/klippy/extras/probe.py
@@ -240,6 +240,9 @@ class ProbePointsHelper:
         self.samples = config.getint('samples', 1, minval=1)
         self.sample_retract_dist = config.getfloat(
             'sample_retract_dist', 2., above=0.)
+        self.samples_result = config.getchoice('samples_result',
+                                               {'median': 0, 'average': 1},
+                                               default='average')
         # Internal probing state
         self.results = []
         self.busy = self.manual_probe = False
@@ -295,9 +298,26 @@ class ProbePointsHelper:
             if i < self.samples - 1:
                 # retract
                 self._lift_z(self.sample_retract_dist, add=True)
-        avg_pos = [sum([pos[i] for pos in positions]) / self.samples
-                   for i in range(3)]
-        self.results.append(avg_pos)
+        if self.samples_result == 1:
+            # Calculate Average
+            calculated_value = [sum([pos[i] for pos in positions]) /
+                                self.samples for i in range(3)]
+        else:
+            # Calculate Median
+            sorted_z_positions = sorted([position[2]
+                                         for position in positions])
+            middle = self.samples // 2
+            if (self.samples & 1) == 1:
+                # odd number of samples
+                median = sorted_z_positions[middle]
+            else:
+                # even number of samples
+                median = (sorted_z_positions[middle] +
+                          sorted_z_positions[middle - 1]) / 2
+            calculated_value = [positions[0][0],
+                                positions[0][1],
+                                median]
+        self.results.append(calculated_value)
     def start_probe(self, params):
         # Lookup objects
         self.toolhead = self.printer.lookup_object('toolhead')
diff --git a/klippy/extras/screws_tilt_adjust.py b/klippy/extras/screws_tilt_adjust.py
new file mode 100644
index 00000000..663127c2
--- /dev/null
+++ b/klippy/extras/screws_tilt_adjust.py
@@ -0,0 +1,97 @@
+# Helper script to adjust bed screws tilt using Z probe
+#
+# Copyright (C) 2019  Rui Caridade <rui.mcbc@gmail.com>
+#
+# This file may be distributed under the terms of the GNU GPLv3 license.
+import math
+import probe
+
+def parse_coord(config, param):
+    pair = config.get(param).strip().split(',', 1)
+    try:
+        return (float(pair[0]), float(pair[1]))
+    except:
+        raise config.error("%s:%s needs to be an x,y coordinate" % (
+            config.get_name(), param))
+
+class ScrewsTiltAdjust:
+    def __init__(self, config):
+        self.config = config
+        self.printer = config.get_printer()
+        self.screws = []
+        # Verify that a probe exists
+        try:
+            self.printer.lookup_object("probe")
+        except:
+            raise self.gcode.error("Error: you must have a probe on "
+                                   "your config file.")
+        # Read config
+        for i in range(99):
+            prefix = "screw%d" % (i + 1,)
+            if config.get(prefix, None) is None:
+                break
+            screw_coord = parse_coord(config, prefix)
+            screw_name = "screw at %.3f,%.3f" % screw_coord
+            screw_name = config.get(prefix + "_name", screw_name)
+            self.screws.append((screw_coord, screw_name))
+        if len(self.screws) < 3:
+            raise config.error("screws_tilt_adjust: Must have "
+                               "at least three screws")
+        self.threads = {'CW-M3': 0, 'CCW-M3': 1, 'CW-M4': 2, 'CCW-M4': 3,
+                        'CW-M5': 4, 'CCW-M5': 5}
+        self.thread = config.getchoice('screw_thread', self.threads,
+                                       default='CW-M3')
+        # Initialize ProbePointsHelper
+        points = [coord for coord, name in self.screws]
+        self.probe_helper = probe.ProbePointsHelper(self.config,
+                                                    self.probe_finalize,
+                                                    default_points=points)
+        # Register command
+        self.gcode = self.printer.lookup_object('gcode')
+        self.gcode.register_command("SCREWS_TILT_CALCULATE",
+                                    self.cmd_SCREWS_TILT_CALCULATE,
+                                    desc=self.cmd_SCREWS_TILT_CALCULATE_help)
+    cmd_SCREWS_TILT_CALCULATE_help = "Tool to help adjust bed leveling " \
+                                     "screws by calculating the number " \
+                                     "of turns to level it."
+
+    def cmd_SCREWS_TILT_CALCULATE(self, params):
+        self.probe_helper.start_probe(params)
+
+    def probe_finalize(self, offsets, positions):
+        # Factors used for CW-M3, CCW-M3, CW-M4, CCW-M4, CW-M5 and CCW-M5
+        threads_factor = {0: 0.5, 1: 0.5, 2: 0.7, 3: 0.7, 4: 0.8, 5: 0.8}
+        # Process the read Z values and
+        for i, screw in enumerate(self.screws):
+            if i == 0:
+                # First screw is the base position used for comparison
+                z_base = positions[i][2]
+                coord_base, name_base = screw
+                # Show the results
+                self.gcode.respond_info("%s (Base): X %.1f, Y %.1f, Z %.5f" %
+                                        (name_base, coord_base[0],
+                                         coord_base[1], z_base))
+            else:
+                # Calculate how knob must me adjusted for other positions
+                z = positions[i][2]
+                coord, name = screw
+                diff = z_base - z
+                if abs(diff) < 0.001:
+                    adjust = 0
+                else:
+                    adjust = diff / threads_factor.get(self.thread, 0.5)
+                if (self.thread & 1) == 1:
+                    sign = "CW" if adjust < 0 else "CCW"
+                else:
+                    sign = "CCW" if adjust < 0 else "CW"
+                full_turns = math.trunc(adjust)
+                decimal_part = adjust - full_turns
+                minutes = round(decimal_part * 60, 0)
+                # Show the results
+                self.gcode.respond_info("%s : X %.1f, Y %.1f, Z %.5f : "
+                                        "Adjust -> %s %02d:%02d" %
+                                        (name, coord[0], coord[1], z, sign,
+                                         abs(full_turns), abs(minutes)))
+
+def load_config(config):
+    return ScrewsTiltAdjust(config)