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Diffstat (limited to 'klippy/extras/bed_screws.py')
| -rw-r--r-- | klippy/extras/bed_screws.py | 119 |
1 files changed, 119 insertions, 0 deletions
diff --git a/klippy/extras/bed_screws.py b/klippy/extras/bed_screws.py new file mode 100644 index 00000000..ce6754da --- /dev/null +++ b/klippy/extras/bed_screws.py @@ -0,0 +1,119 @@ +# Helper script to adjust bed screws +# +# Copyright (C) 2019 Kevin O'Connor <kevin@koconnor.net> +# +# This file may be distributed under the terms of the GNU GPLv3 license. + +def parse_coord(config, param): + pair = config.get(param).strip().split(',', 1) + try: + return (float(pair[0]), float(pair[1])) + except: + raise config.error("%s:%s needs to be an x,y coordinate" % ( + config.get_name(), param)) + +class BedScrews: + def __init__(self, config): + self.printer = config.get_printer() + self.state = None + self.current_screw = 0 + self.adjust_again = False + # Read config + screws = [] + fine_adjust = [] + for i in range(99): + prefix = "screw%d" % (i + 1,) + if config.get(prefix, None) is None: + break + screw_coord = parse_coord(config, prefix) + screw_name = "screw at %.3f,%.3f" % screw_coord + screw_name = config.get(prefix + "_name", screw_name) + screws.append((screw_coord, screw_name)) + if config.get(prefix + "_fine_adjust", None) is not None: + fine_coord = parse_coord(config, prefix + "_fine_adjust") + fine_adjust.append((fine_coord, screw_name)) + if len(screws) < 3: + raise config.error("bed_screws: Must have at least three screws") + self.states = {'adjust': screws, 'fine': fine_adjust} + self.speed = config.getfloat('speed', 50., above=0.) + self.lift_speed = config.getfloat('probe_speed', 5., above=0.) + self.horizontal_move_z = config.getfloat('horizontal_move_z', 5.) + self.probe_z = config.getfloat('probe_height', 0.) + # Register command + self.gcode = self.printer.lookup_object('gcode') + self.gcode.register_command("BED_SCREWS_ADJUST", + self.cmd_BED_SCREWS_ADJUST, + desc=self.cmd_BED_SCREWS_ADJUST_help) + 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 move_to_screw(self, state, screw): + # Move up, over, and then down + self.move((None, None, self.horizontal_move_z), self.lift_speed) + coord, name = self.states[state][screw] + self.move((coord[0], coord[1], self.horizontal_move_z), self.speed) + self.move((coord[0], coord[1], self.probe_z), self.lift_speed) + # Update state + self.state = state + self.current_screw = screw + # Register commands + self.gcode.respond_info( + "Adjust %s. Then run ACCEPT, ADJUSTED, or ABORT\n" + "Use ADJUSTED if a significant screw adjustment is made" % (name,)) + self.gcode.register_command('ACCEPT', self.cmd_ACCEPT, + desc=self.cmd_ACCEPT_help) + self.gcode.register_command('ADJUSTED', self.cmd_ADJUSTED, + desc=self.cmd_ADJUSTED_help) + self.gcode.register_command('ABORT', self.cmd_ABORT, + desc=self.cmd_ABORT_help) + def unregister_commands(self): + self.gcode.register_command('ACCEPT', None) + self.gcode.register_command('ADJUSTED', None) + self.gcode.register_command('ABORT', None) + cmd_BED_SCREWS_ADJUST_help = "Tool to help adjust bed leveling screws" + def cmd_BED_SCREWS_ADJUST(self, params): + if self.state is not None: + raise self.gcode.error( + "Already in bed_screws helper; use ABORT to exit") + self.adjust_again = False + self.move((None, None, self.horizontal_move_z), self.speed) + self.move_to_screw('adjust', 0) + cmd_ACCEPT_help = "Accept bed screw position" + def cmd_ACCEPT(self, params): + self.unregister_commands() + if self.current_screw + 1 < len(self.states[self.state]): + # Continue with next screw + self.move_to_screw(self.state, self.current_screw + 1) + return + if self.adjust_again: + # Retry coarse adjustments + self.adjust_again = False + self.move_to_screw('adjust', 0) + return + if self.state == 'adjust' and self.states['fine']: + # Perform fine screw adjustments + self.move_to_screw('fine', 0) + return + # Done + self.state = None + self.move((None, None, self.horizontal_move_z), self.lift_speed) + self.gcode.respond_info("Bed screws tool completed successfully") + cmd_ADJUSTED_help = "Accept bed screw position after notable adjustment" + def cmd_ADJUSTED(self, params): + self.unregister_commands() + self.adjust_again = True + self.cmd_ACCEPT(params) + cmd_ABORT_help = "Abort bed screws tool" + def cmd_ABORT(self, params): + self.unregister_commands() + self.state = None + +def load_config(config): + return BedScrews(config) |