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| author | Kevin O'Connor <kevin@koconnor.net> | 2018-09-26 19:08:34 -0400 |
|---|---|---|
| committer | KevinOConnor <kevin@koconnor.net> | 2018-10-01 11:12:30 -0400 |
| commit | c3550158bb7a1afd289adea3adf258348c1698b7 (patch) | |
| tree | b9a3e85de381cc88b5f619aaa6b76045ba43fd5c /klippy/extras | |
| parent | 19d18c2bc1944c3d4c4ef325f42f8726ad1f608d (diff) | |
| download | kutter-c3550158bb7a1afd289adea3adf258348c1698b7.tar.gz kutter-c3550158bb7a1afd289adea3adf258348c1698b7.tar.xz kutter-c3550158bb7a1afd289adea3adf258348c1698b7.zip | |
z_tilt: Take into account probe xy offset when calculating z_adjust
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Diffstat (limited to 'klippy/extras')
| -rw-r--r-- | klippy/extras/z_tilt.py | 20 |
1 files changed, 13 insertions, 7 deletions
diff --git a/klippy/extras/z_tilt.py b/klippy/extras/z_tilt.py index e6e1aab8..70249b26 100644 --- a/klippy/extras/z_tilt.py +++ b/klippy/extras/z_tilt.py @@ -41,9 +41,11 @@ class ZTilt: def cmd_Z_TILT_ADJUST(self, params): self.probe_helper.start_probe(params) def probe_finalize(self, offsets, positions): + # Setup for coordinate descent analysis z_offset = offsets[2] logging.info("Calculating bed tilt with: %s", positions) params = { 'x_adjust': 0., 'y_adjust': 0., 'z_adjust': z_offset } + # Perform coordinate descent def adjusted_height(pos, params): x, y, z = pos return (z - x*params['x_adjust'] - y*params['y_adjust'] @@ -55,16 +57,20 @@ class ZTilt: return total_error new_params = mathutil.coordinate_descent( params.keys(), params, errorfunc) + # Apply results logging.info("Calculated bed tilt parameters: %s", new_params) + x_adjust = new_params['x_adjust'] + y_adjust = new_params['y_adjust'] + z_adjust = (new_params['z_adjust'] - z_offset + - x_adjust * offsets[0] - y_adjust * offsets[1]) try: - self.adjust_steppers(new_params['x_adjust'], new_params['y_adjust'], - new_params['z_adjust'], z_offset) + self.adjust_steppers(x_adjust, y_adjust, z_adjust) except: logging.exception("z_tilt adjust_steppers") for s in self.z_steppers: z.set_ignore_move(False) raise - def adjust_steppers(self, x_adjust, y_adjust, z_adjust, z_offset): + def adjust_steppers(self, x_adjust, y_adjust, z_adjust): toolhead = self.printer.lookup_object('toolhead') curpos = toolhead.get_position() speed = self.probe_helper.get_lift_speed() @@ -75,9 +81,9 @@ class ZTilt: stepper_offset = -(x*x_adjust + y*y_adjust) positions.append((stepper_offset, s)) # Report on movements - msg = "Making the following Z tilt adjustments:\n%s\nz_offset = %.6f" % ( - "\n".join(["%s = %.6f" % (s.get_name(), so) for so, s in positions]), - z_adjust - z_offset) + stepstrs = ["%s = %.6f" % (s.get_name(), so) for so, s in positions] + msg = "Making the following Z adjustments:\n%s\nz_adjust = %.6f" % ( + "\n".join(stepstrs), z_adjust) logging.info(msg) self.gcode.respond_info(msg) # Move each z stepper (sorted from lowest to highest) until they match @@ -94,7 +100,7 @@ class ZTilt: # Z should now be level - do final cleanup last_stepper_offset, last_stepper = positions[-1] last_stepper.set_ignore_move(False) - curpos[2] -= z_adjust - z_offset + curpos[2] -= z_adjust toolhead.set_position(curpos) self.gcode.reset_last_position() |