diff options
| -rw-r--r-- | config/example-delta.cfg | 9 | ||||
| -rw-r--r-- | config/example-extras.cfg | 55 | ||||
| -rw-r--r-- | config/kit-voron2-250mm.cfg | 8 | ||||
| -rw-r--r-- | config/kit-zav3d-2019.cfg | 4 | ||||
| -rw-r--r-- | config/printer-tevo-flash-2018.cfg | 4 | ||||
| -rw-r--r-- | klippy/extras/probe.py | 129 | ||||
| -rw-r--r-- | test/klippy/screws_tilt_adjust.cfg | 6 |
7 files changed, 86 insertions, 129 deletions
diff --git a/config/example-delta.cfg b/config/example-delta.cfg index 71ad750a..b6a25fdb 100644 --- a/config/example-delta.cfg +++ b/config/example-delta.cfg @@ -123,12 +123,3 @@ radius: 50 #horizontal_move_z: 5 # The height (in mm) that the head should be commanded to move to # just prior to starting a probe operation. The default is 5. -#samples: 1 -# The number of times to probe each point. The probed z-values will -# be averaged. The default is to probe 1 time. -#samples_result: average -# One can choose median or average between probes samples -# The default is average. -#sample_retract_dist: 2.0 -# The distance (in mm) to retract between each sample if sampling -# more than once. The default is 2mm. diff --git a/config/example-extras.cfg b/config/example-extras.cfg index b0f8cdf3..2b0bdb1c 100644 --- a/config/example-extras.cfg +++ b/config/example-extras.cfg @@ -30,6 +30,15 @@ # triggers. This parameter must be provided. #speed: 5.0 # Speed (in mm/s) of the Z axis when probing. The default is 5mm/s. +#samples: 1 +# The number of times to probe each point. The probed z-values will +# be averaged. The default is to probe 1 time. +#sample_retract_dist: 2.0 +# The distance (in mm) to lift the toolhead between each sample (if +# sampling more than once). The default is 2mm. +#samples_result: average +# The calculation method when sampling more than once - either +# "median" or "average". The default is average. #activate_gcode: # A list of G-Code commands (one per line; subsequent lines # indented) to execute prior to each probe attempt. This may be @@ -72,6 +81,9 @@ #y_offset: #z_offset: #speed: +#samples: +#sample_retract_dist: +#samples_result: # See the "probe" section for information on these parameters. @@ -102,15 +114,6 @@ #horizontal_move_z: 5 # The height (in mm) that the head should be commanded to move to # just prior to starting a probe operation. The default is 5. -#samples: 1 -# The number of times to probe each point. The probed z-values -# will be averaged. The default is to probe 1 time. -#samples_result: average -# One can choose median or average between probes samples -# The default is average. -#sample_retract_dist: 2.0 -# The distance (in mm) to retract between each sample if -# sampling more than once. Default is 2mm. # Mesh Bed Leveling. One may define a [bed_mesh] config section @@ -147,15 +150,6 @@ #horizontal_move_z: 5 # The height (in mm) that the head should be commanded to move to # just prior to starting a probe operation. The default is 5. -#samples: 1 -# The number of times to probe each point. The probed z-values -# will be averaged. The default is to probe 1 time. -#samples_result: average -# One can choose median or average between probes samples -# The default is average. -#sample_retract_dist: 2.0 -# The distance (in mm) to retract between each sample if -# sampling more than once. Default is 2mm. #bed_radius: # Defines the radius to probe for round beds. Note that the radius # is relative to the nozzle's origin, if using a probe be sure to @@ -283,15 +277,6 @@ #horizontal_move_z: 5 # The height (in mm) that the head should be commanded to move to # just prior to starting a probe operation. The default is 5. -#samples: 1 -# The number of times to probe each point. The probed z-values -# will be averaged. The default is to probe 1 time. -#sample_retract_dist: 2.0 -# The distance (in mm) to retract between each sample if -# sampling more than once. Default is 2mm. -#samples_result: median -# One can choose median or average between screw probes -# The default is average. #screw_thread: CW-M3 # The type of screw used for bed level, M3, M4 or M5 and the # direction of the knob used to level the bed, clockwise decrease @@ -325,15 +310,6 @@ #horizontal_move_z: 5 # The height (in mm) that the head should be commanded to move to # just prior to starting a probe operation. The default is 5. -#samples: 1 -# The number of times to probe each point. The probed z-values -# will be averaged. The default is to probe 1 time. -#samples_result: average -# One can choose median or average between probes samples -# The default is average. -#sample_retract_dist: 2.0 -# The distance (in mm) to retract between each sample if -# sampling more than once. Default is 2mm. # Moving gantry leveling using 4 independently controlled Z motors. @@ -374,13 +350,6 @@ #max_adjust: 4 # Saftey limit if an ajustment greater than this value is requested # quad_gantry_level will abort. -#samples: 1 -# Number of probe samples per point. The defaut is 1 -#samples_result: average -# One can choose median or average between probes samples -# The default is average. -#sample_retract_dist: 2.0 -# Distance in mm to retract the probe between samples. Default is 2. # In a multi-extruder printer add an additional extruder section for diff --git a/config/kit-voron2-250mm.cfg b/config/kit-voron2-250mm.cfg index 73257af6..278d4299 100644 --- a/config/kit-voron2-250mm.cfg +++ b/config/kit-voron2-250mm.cfg @@ -158,6 +158,10 @@ x_offset: 0.0 y_offset: 25.0 z_offset: 0.00 speed: 2.0 +samples: 4 +# Number of times to probe a point +sample_retract_dist: 6.0 +# How far to retract (in mm) from the probe point for multi-probe samples [fan] # Print cooling fan @@ -231,10 +235,6 @@ points: # Probe points speed: 200 horizontal_move_z: 6 -samples: 4 -# Number of times to probe a point -sample_retract_dist: 6.0 -# How far to retract (in mm) from the probe point for multi-probe samples [display] # RepRapDiscount 128x64 Full Graphic Smart Controller diff --git a/config/kit-zav3d-2019.cfg b/config/kit-zav3d-2019.cfg index 502d0645..01beadcb 100644 --- a/config/kit-zav3d-2019.cfg +++ b/config/kit-zav3d-2019.cfg @@ -123,12 +123,12 @@ x_offset: 39 y_offset: 11 z_offset: 0.9 pin_up_touch_mode_reports_triggered: false +samples: 2 +sample_retract_dist: 3.0 [bed_mesh] speed: 100 horizontal_move_z: 5 -samples: 2 -sample_retract_dist: 3.0 min_point: 30,30 max_point: 150,150 probe_count: 3,3 diff --git a/config/printer-tevo-flash-2018.cfg b/config/printer-tevo-flash-2018.cfg index 169704bd..8c1adf8c 100644 --- a/config/printer-tevo-flash-2018.cfg +++ b/config/printer-tevo-flash-2018.cfg @@ -103,6 +103,8 @@ control_pin: ar11 x_offset: 0 y_offset: 18 z_offset: 1.64 +samples: 3 +sample_retract_dist: 5 # The homing_override section modifies the default G28 behavior [homing_override] @@ -117,8 +119,6 @@ gcode: # Mesh Bed Leveling. [bed_mesh] -samples: 3 -sample_retract_dist: 5 min_point: 5,0 max_point: 230,210 probe_count: 9,9 diff --git a/klippy/extras/probe.py b/klippy/extras/probe.py index 84bf5c9d..e47bdf63 100644 --- a/klippy/extras/probe.py +++ b/klippy/extras/probe.py @@ -29,6 +29,13 @@ class PrinterProbe: else: pconfig = config.getsection('printer') self.z_position = pconfig.getfloat('minimum_z_position', 0.) + # Multi-sample support (for improved accuracy) + 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') # Register z_virtual_endstop pin self.printer.lookup_object('pins').register_chip('probe', self) # Register PROBE/QUERY_PROBE commands @@ -49,9 +56,6 @@ class PrinterProbe: return self.mcu_probe def get_offsets(self): return self.x_offset, self.y_offset, self.z_offset - cmd_PROBE_help = "Probe Z-height at current XY position" - def cmd_PROBE(self, params): - self._probe(self.speed) def _probe(self, speed): toolhead = self.printer.lookup_object('toolhead') homing_state = homing.Homing(self.printer) @@ -71,6 +75,50 @@ class PrinterProbe: self.gcode.respond_info("probe at %.3f,%.3f is z=%.6f" % ( pos[0], pos[1], pos[2])) self.gcode.reset_last_position() + return pos + def _move(self, coord, speed): + toolhead = self.printer.lookup_object('toolhead') + curpos = toolhead.get_position() + for i in range(len(coord)): + if coord[i] is not None: + curpos[i] = coord[i] + try: + toolhead.move(curpos, speed) + except homing.EndstopError as e: + raise self.gcode.error(str(e)) + def run_probe(self): + positions = [] + for i in range(self.samples): + pos = self._probe(self.speed) + positions.append(pos) + if i < self.samples - 1: + # retract + liftpos = [None, None, pos[2] + self.sample_retract_dist] + self._move(liftpos, self.speed) + 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] + return calculated_value + cmd_PROBE_help = "Probe Z-height at current XY position" + def cmd_PROBE(self, params): + pos = self.run_probe() + self.gcode.respond_info("Result is z=%.6f" % (pos[2],)) cmd_QUERY_PROBE_help = "Return the status of the z-probe" def cmd_QUERY_PROBE(self, params): toolhead = self.printer.lookup_object('toolhead') @@ -104,10 +152,9 @@ class PrinterProbe: # Move Z to start reading position self._move(start_pos, speed) # Probe - self._probe(speed) + pos = self._probe(speed) # Get Z value, accumulate value to calculate average # and save it to calculate standard deviation - pos = toolhead.get_position() sum_reads += pos[2] probes.append(pos[2]) # Move Z to start reading position @@ -135,16 +182,6 @@ class PrinterProbe: "probe accuracy results: maximum %.6f, minimum %.6f, " "average %.6f, median %.6f, standard deviation %.6f" % ( max_value, min_value, avg_value, median, sigma)) - def _move(self, coord, speed): - toolhead = self.printer.lookup_object('toolhead') - curpos = toolhead.get_position() - for i in range(len(coord)): - if coord[i] is not None: - curpos[i] = coord[i] - try: - toolhead.move(curpos, speed) - except homing.EndstopError as e: - raise self.gcode.error(str(e)) def probe_calibrate_finalize(self, kin_pos): if kin_pos is None: return @@ -158,10 +195,8 @@ class PrinterProbe: cmd_PROBE_CALIBRATE_help = "Calibrate the probe's z_offset" def cmd_PROBE_CALIBRATE(self, params): # Perform initial probe - self._probe(self.speed) + curpos = self.run_probe() # Move away from the bed - toolhead = self.printer.lookup_object('toolhead') - curpos = toolhead.get_position() self.probe_calibrate_z = curpos[2] curpos[2] += 5. self._move(curpos, self.speed) @@ -240,12 +275,6 @@ class ProbePointsHelper: self.horizontal_move_z = config.getfloat('horizontal_move_z', 5.) self.speed = self.lift_speed = config.getfloat('speed', 50., above=0.) self.probe_offsets = (0., 0., 0.) - 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 @@ -256,15 +285,10 @@ class ProbePointsHelper: "Need at least %d probe points for %s" % (n, self.name)) def get_lift_speed(self): return self.lift_speed - def _lift_z(self, z_pos, add=False, speed=None): + def _lift_z(self, z_pos, speed): # Lift toolhead curpos = self.toolhead.get_position() - if add: - curpos[2] += z_pos - else: - curpos[2] = z_pos - if speed is None: - speed = self.lift_speed + curpos[2] = z_pos try: self.toolhead.move(curpos, speed) except homing.EndstopError as e: @@ -272,7 +296,7 @@ class ProbePointsHelper: raise self.gcode.error(str(e)) def _move_next(self): # Lift toolhead - self._lift_z(self.horizontal_move_z) + self._lift_z(self.horizontal_move_z, self.lift_speed) # Check if done probing if len(self.results) >= len(self.probe_points): self.toolhead.get_last_move_time() @@ -293,38 +317,6 @@ class ProbePointsHelper: if self.manual_probe: manual_probe.ManualProbeHelper(self.printer, {}, self._manual_probe_finalize) - def _automatic_probe_point(self): - positions = [] - for i in range(self.samples): - try: - self.gcode.run_script_from_command("PROBE") - except self.gcode.error as e: - self._finalize(False) - raise - positions.append(self.toolhead.get_position()) - if i < self.samples - 1: - # retract - self._lift_z(self.sample_retract_dist, add=True) - 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') @@ -345,12 +337,17 @@ class ProbePointsHelper: # Start probe self.results = [] self.busy = True - self._lift_z(self.horizontal_move_z, speed=self.speed) + self._lift_z(self.horizontal_move_z, self.speed) self._move_next() if not self.manual_probe: # Perform automatic probing while self.busy: - self._automatic_probe_point() + try: + pos = probe.run_probe() + except self.gcode.error as e: + self._finalize(False) + raise + self.results.append(pos) self._move_next() def _manual_probe_finalize(self, kin_pos): if kin_pos is None: diff --git a/test/klippy/screws_tilt_adjust.cfg b/test/klippy/screws_tilt_adjust.cfg index 7b29e6ec..cc985d19 100644 --- a/test/klippy/screws_tilt_adjust.cfg +++ b/test/klippy/screws_tilt_adjust.cfg @@ -56,6 +56,9 @@ max_temp: 130 sensor_pin: ar30 control_pin: ar32 z_offset: 1.15 +samples: 3 +sample_retract_dist: 2. +samples_result: median [bed_mesh] min_point: 10,10 @@ -83,7 +86,4 @@ screw4: 10,190 screw4_name: read left screw horizontal_move_z: 10. speed: 50. -samples: 3 -sample_retract_dist: 2. -samples_result: median screw_thread: CW-M3 |