diff options
Diffstat (limited to 'klippy/extras/bed_mesh.py')
| -rw-r--r-- | klippy/extras/bed_mesh.py | 125 |
1 files changed, 97 insertions, 28 deletions
diff --git a/klippy/extras/bed_mesh.py b/klippy/extras/bed_mesh.py index eb7002b4..3af1b9db 100644 --- a/klippy/extras/bed_mesh.py +++ b/klippy/extras/bed_mesh.py @@ -278,6 +278,12 @@ class BedMesh: gcmd.respond_info("No mesh loaded to offset") +class ZrefMode: + DISABLED = 0 # Zero reference disabled + IN_MESH = 1 # Zero reference position within mesh + PROBE = 2 # Zero refrennce position outside of mesh, probe needed + + class BedMeshCalibrate: ALGOS = ['lagrange', 'bicubic'] def __init__(self, config, bedmesh): @@ -285,11 +291,25 @@ class BedMeshCalibrate: self.orig_config = {'radius': None, 'origin': None} self.radius = self.origin = None self.mesh_min = self.mesh_max = (0., 0.) + self.zero_ref_pos = config.getfloatlist( + "zero_reference_position", None, count=2 + ) self.relative_reference_index = config.getint( - 'relative_reference_index', None) + 'relative_reference_index', None, minval=0) + config.deprecate('relative_reference_index') + if ( + self.zero_ref_pos is not None and + self.relative_reference_index is not None + ): + self.relative_reference_index = None + logging.info( + "bed_mesh: both 'zero_reference_postion' and " + "'relative_reference_index' options are specified, " + "the 'zero_reference_position' value will be used." + ) + self.zero_reference_mode = ZrefMode.DISABLED self.faulty_regions = [] self.substituted_indices = collections.OrderedDict() - self.orig_config['rri'] = self.relative_reference_index self.bedmesh = bedmesh self.mesh_config = collections.OrderedDict() self._init_mesh_config(config) @@ -346,9 +366,37 @@ class BedMeshCalibrate: (self.origin[0] + pos_x, self.origin[1] + pos_y)) pos_y += y_dist self.points = points + rri = self.relative_reference_index + if self.zero_ref_pos is None and rri is not None: + # Zero ref position needs to be initialized + if rri >= len(self.points): + raise error("bed_mesh: relative reference index out of range") + self.zero_ref_pos = points[rri] + if self.zero_ref_pos is None: + # Zero Reference Disabled + self.zero_reference_mode = ZrefMode.DISABLED + elif within(self.zero_ref_pos, self.mesh_min, self.mesh_max): + # Zero Reference position within mesh + self.zero_reference_mode = ZrefMode.IN_MESH + else: + # Zero Reference position outside of mesh + self.zero_reference_mode = ZrefMode.PROBE if not self.faulty_regions: return self.substituted_indices.clear() + if self.zero_reference_mode == ZrefMode.PROBE: + # Cannot probe a reference within a faulty region + for min_c, max_c in self.faulty_regions: + if within(self.zero_ref_pos, min_c, max_c): + opt = "zero_reference_position" + if self.relative_reference_index is not None: + opt = "relative_reference_index" + raise error( + "bed_mesh: Cannot probe zero reference position at " + "(%.2f, %.2f) as it is located within a faulty region." + " Check the value for option '%s'" + % (self.zero_ref_pos[0], self.zero_ref_pos[1], opt,) + ) # Check to see if any points fall within faulty regions last_y = self.points[0][1] is_reversed = False @@ -398,11 +446,18 @@ class BedMeshCalibrate: mesh_pt = "(%.1f, %.1f)" % (x, y) print_func( " %-4d| %-16s| %s" % (i, adj_pt, mesh_pt)) - if self.relative_reference_index is not None: + if self.zero_ref_pos is not None: rri = self.relative_reference_index - print_func( - "bed_mesh: relative_reference_index %d is (%.2f, %.2f)" - % (rri, self.points[rri][0], self.points[rri][1])) + if rri is not None: + print_func( + "bed_mesh: relative_reference_index %d is (%.2f, %.2f)" + % (rri, self.zero_ref_pos[0], self.zero_ref_pos[1]) + ) + else: + print_func( + "bed_mesh: zero_reference_position is (%.2f, %.2f)" + % (self.zero_ref_pos[0], self.zero_ref_pos[1]) + ) if self.substituted_indices: print_func("bed_mesh: faulty region points") for i, v in self.substituted_indices.items(): @@ -522,7 +577,6 @@ class BedMeshCalibrate: # reset default configuration self.radius = self.orig_config['radius'] self.origin = self.orig_config['origin'] - self.relative_reference_index = self.orig_config['rri'] self.mesh_min = self.orig_config['mesh_min'] self.mesh_max = self.orig_config['mesh_max'] for key in list(self.mesh_config.keys()): @@ -530,12 +584,6 @@ class BedMeshCalibrate: params = gcmd.get_command_parameters() need_cfg_update = False - if 'RELATIVE_REFERENCE_INDEX' in params: - self.relative_reference_index = gcmd.get_int( - 'RELATIVE_REFERENCE_INDEX') - if self.relative_reference_index < 0: - self.relative_reference_index = None - need_cfg_update = True if self.radius is not None: if "MESH_RADIUS" in params: self.radius = gcmd.get_float("MESH_RADIUS") @@ -585,17 +633,20 @@ class BedMeshCalibrate: pts = self._get_adjusted_points() self.probe_helper.update_probe_points(pts, 3) def _get_adjusted_points(self): - if not self.substituted_indices: - return self.points adj_pts = [] - last_index = 0 - for i, pts in self.substituted_indices.items(): - adj_pts.extend(self.points[last_index:i]) - adj_pts.extend(pts) - # Add one to the last index to skip the point - # we are replacing - last_index = i + 1 - adj_pts.extend(self.points[last_index:]) + if self.substituted_indices: + last_index = 0 + for i, pts in self.substituted_indices.items(): + adj_pts.extend(self.points[last_index:i]) + adj_pts.extend(pts) + # Add one to the last index to skip the point + # we are replacing + last_index = i + 1 + adj_pts.extend(self.points[last_index:]) + else: + adj_pts = list(self.points) + if self.zero_reference_mode == ZrefMode.PROBE: + adj_pts.append(self.zero_ref_pos) return adj_pts cmd_BED_MESH_CALIBRATE_help = "Perform Mesh Bed Leveling" def cmd_BED_MESH_CALIBRATE(self, gcmd): @@ -609,6 +660,14 @@ class BedMeshCalibrate: x_offset, y_offset, z_offset = offsets positions = [[round(p[0], 2), round(p[1], 2), p[2]] for p in positions] + if self.zero_reference_mode == ZrefMode.PROBE : + ref_pos = positions.pop() + logging.info( + "bed_mesh: z-offset replaced with probed z value at " + "position (%.2f, %.2f, %.6f)" + % (ref_pos[0], ref_pos[1], ref_pos[2]) + ) + z_offset = ref_pos[2] params = dict(self.mesh_config) params['min_x'] = min(positions, key=lambda p: p[0])[0] + x_offset params['max_x'] = max(positions, key=lambda p: p[0])[0] + x_offset @@ -659,11 +718,6 @@ class BedMeshCalibrate: % (off_pt[0], off_pt[1], probed[0], probed[1])) positions = corrected_pts - if self.relative_reference_index is not None: - # zero out probe z offset and - # set offset relative to reference index - z_offset = positions[self.relative_reference_index][2] - probed_matrix = [] row = [] prev_pos = positions[0] @@ -720,6 +774,11 @@ class BedMeshCalibrate: z_mesh.build_mesh(probed_matrix) except BedMeshError as e: raise self.gcode.error(str(e)) + if self.zero_reference_mode == ZrefMode.IN_MESH: + # The reference can be anywhere in the mesh, therefore + # it is necessary to set the reference after the initial mesh + # is generated to lookup the correct z value. + z_mesh.set_zero_reference(*self.zero_ref_pos) self.bedmesh.set_mesh(z_mesh) self.gcode.respond_info("Mesh Bed Leveling Complete") self.bedmesh.save_profile(self._profile_name) @@ -899,6 +958,16 @@ class ZMesh: # z step distances self.avg_z = round(self.avg_z, 2) self.print_mesh(logging.debug) + def set_zero_reference(self, xpos, ypos): + offset = self.calc_z(xpos, ypos) + logging.info( + "bed_mesh: setting zero reference at (%.2f, %.2f, %.6f)" + % (xpos, ypos, offset) + ) + for matrix in [self.probed_matrix, self.mesh_matrix]: + for yidx in range(len(matrix)): + for xidx in range(len(matrix[yidx])): + matrix[yidx][xidx] -= offset def set_mesh_offsets(self, offsets): for i, o in enumerate(offsets): if o is not None: |