diff options
| -rw-r--r-- | klippy/extras/quad_gantry_level.py | 45 |
1 files changed, 4 insertions, 41 deletions
diff --git a/klippy/extras/quad_gantry_level.py b/klippy/extras/quad_gantry_level.py index 0bfff7a6..1f915d4f 100644 --- a/klippy/extras/quad_gantry_level.py +++ b/klippy/extras/quad_gantry_level.py @@ -4,19 +4,18 @@ # # This file may be distributed under the terms of the GNU GPLv3 license. import logging -import probe +import probe, z_tilt class QuadGantryLevel: def __init__(self, config): self.printer = config.get_printer() self.max_adjust = config.getfloat("max_adjust", 4, above=0) 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) if len(self.probe_helper.probe_points) != 4: raise config.error( "Need exactly 4 probe points for quad_gantry_level") + self.z_helper = z_tilt.ZAdjustHelper(config, 4) gantry_corners = config.get('gantry_corners').split('\n') try: gantry_corners = [line.split(',', 1) @@ -29,19 +28,11 @@ class QuadGantryLevel: 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): @@ -96,13 +87,8 @@ class QuadGantryLevel: "is greater than max_adjust %0.6f" % (self.max_adjust)) return - 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 + speed = self.probe_helper.get_lift_speed() + self.z_helper.adjust_steppers(z_adjust, speed) def linefit(self,p1,p2): if p1[1] == p2[1]: # Straight line @@ -112,29 +98,6 @@ class QuadGantryLevel: 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) |