diff options
| -rw-r--r-- | klippy/extras/bed_tilt.py | 33 | ||||
| -rw-r--r-- | klippy/extras/probe.py | 29 |
2 files changed, 54 insertions, 8 deletions
diff --git a/klippy/extras/bed_tilt.py b/klippy/extras/bed_tilt.py index c8a577a3..675097fa 100644 --- a/klippy/extras/bed_tilt.py +++ b/klippy/extras/bed_tilt.py @@ -44,6 +44,10 @@ class BedTiltCalibrate: self.speed = config.getfloat('speed', 50., above=0.) self.horizontal_move_z = config.getfloat('horizontal_move_z', 5.) self.probe_z_offset = config.getfloat('probe_z_offset', 0.) + self.z_position_endstop = None + if config.has_section('stepper_z'): + zconfig = config.getsection('stepper_z') + self.z_position_endstop = zconfig.getfloat('position_endstop', None) self.manual_probe = config.getboolean('manual_probe', None) if self.manual_probe is None: self.manual_probe = not config.has_section('probe') @@ -81,15 +85,30 @@ class BedTiltCalibrate: for pos in positions: logging.info("orig: %s new: %s", adjusted_height(pos, params), adjusted_height(pos, new_params)) - z_warn = "" z_diff = new_params['z_adjust'] - self.probe_z_offset - if abs(z_diff) > .010: - z_warn = "Note: Z offset was %.6f\n" % (z_diff,) + if self.z_position_endstop is not None: + # Cartesian style robot + z_extra = "" + probe = self.printer.lookup_object('probe', None) + if probe is not None: + last_home_position = probe.last_home_position() + if last_home_position is not None: + # Using z_virtual_endstop + home_x, home_y = last_home_position[:2] + z_diff -= home_x * new_params['x_adjust'] + z_diff -= home_y * new_params['y_adjust'] + z_extra = " (when Z homing at %.3f,%.3f)" % (home_x, home_y) + z_adjust = "stepper_z position_endstop: %.6f%s\n" % ( + self.z_position_endstop - z_diff, z_extra) + else: + # Delta (or other) style robot + z_adjust = "Add %.6f to endstop position\n" % (-z_diff,) + msg = "%sx_adjust: %.6f y_adjust: %.6f" % ( + z_adjust, new_params['x_adjust'], new_params['y_adjust']) + logging.info("bed_tilt_calibrate: %s", msg) self.gcode.respond_info( - "%sx_adjust: %.6f y_adjust: %.6f\n" - "To use these parameters, update the printer config file with\n" - "the above and then issue a RESTART command" % ( - z_warn, new_params['x_adjust'], new_params['y_adjust'])) + "%s\nTo use these parameters, update the printer config file with\n" + "the above and then issue a RESTART command" % (msg,)) def load_config(config): return BedTilt(config) diff --git a/klippy/extras/probe.py b/klippy/extras/probe.py index cd4bec5a..a8c2fa9b 100644 --- a/klippy/extras/probe.py +++ b/klippy/extras/probe.py @@ -34,6 +34,7 @@ class PrinterProbe: self.mcu_probe = ProbeEndstopWrapper(config, self.mcu_probe) # Create z_virtual_endstop pin ppins.register_chip('probe', self) + self.z_virtual_endstop = None # Register PROBE/QUERY_PROBE commands self.gcode = self.printer.lookup_object('gcode') self.gcode.register_command( @@ -53,7 +54,13 @@ class PrinterProbe: raise pins.error("Probe virtual endstop only useful as endstop pin") if pin_params['invert'] or pin_params['pullup']: raise pins.error("Can not pullup/invert probe virtual endstop") - return self.mcu_probe + self.z_virtual_endstop = ProbeVirtualEndstop( + self.printer, self.mcu_probe) + return self.z_virtual_endstop + def last_home_position(self): + if self.z_virtual_endstop is None: + return None + return self.z_virtual_endstop.position cmd_PROBE_help = "Probe Z-height at current XY position" def cmd_PROBE(self, params): toolhead = self.printer.lookup_object('toolhead') @@ -101,6 +108,26 @@ class ProbeEndstopWrapper: self.gcode.run_script(self.deactivate_gcode) self.mcu_endstop.home_finalize() +# Wrapper that records the last XY position of a virtual endstop probe +class ProbeVirtualEndstop: + def __init__(self, printer, mcu_endstop): + self.printer = printer + self.mcu_endstop = mcu_endstop + self.position = None + # Wrappers + self.get_mcu = self.mcu_endstop.get_mcu + self.add_stepper = self.mcu_endstop.add_stepper + self.get_steppers = self.mcu_endstop.get_steppers + self.home_start = self.mcu_endstop.home_start + self.home_wait = self.mcu_endstop.home_wait + self.query_endstop = self.mcu_endstop.query_endstop + self.query_endstop_wait = self.mcu_endstop.query_endstop_wait + self.home_prepare = self.mcu_endstop.home_prepare + self.TimeoutError = self.mcu_endstop.TimeoutError + def home_finalize(self): + self.position = self.printer.lookup_object('toolhead').get_position() + self.mcu_endstop.home_finalize() + # Helper code that can probe a series of points and report the # position at each point. class ProbePointsHelper: |