diff options
Diffstat (limited to 'klippy/extras/bed_tilt.py')
| -rw-r--r-- | klippy/extras/bed_tilt.py | 97 |
1 files changed, 62 insertions, 35 deletions
diff --git a/klippy/extras/bed_tilt.py b/klippy/extras/bed_tilt.py index e5686cbe..54bdce56 100644 --- a/klippy/extras/bed_tilt.py +++ b/klippy/extras/bed_tilt.py @@ -7,41 +7,46 @@ import logging import mathutil from . import probe + class BedTilt: def __init__(self, config): self.printer = config.get_printer() - self.printer.register_event_handler("klippy:connect", - self.handle_connect) - self.x_adjust = config.getfloat('x_adjust', 0.) - self.y_adjust = config.getfloat('y_adjust', 0.) - self.z_adjust = config.getfloat('z_adjust', 0.) - if config.get('points', None) is not None: + self.printer.register_event_handler("klippy:connect", self.handle_connect) + self.x_adjust = config.getfloat("x_adjust", 0.0) + self.y_adjust = config.getfloat("y_adjust", 0.0) + self.z_adjust = config.getfloat("z_adjust", 0.0) + if config.get("points", None) is not None: BedTiltCalibrate(config, self) self.toolhead = None # Register move transform with g-code class - gcode_move = self.printer.load_object(config, 'gcode_move') + gcode_move = self.printer.load_object(config, "gcode_move") gcode_move.set_move_transform(self) + def handle_connect(self): - self.toolhead = self.printer.lookup_object('toolhead') + self.toolhead = self.printer.lookup_object("toolhead") + def get_position(self): pos = self.toolhead.get_position() x, y, z = pos[:3] - z -= x*self.x_adjust + y*self.y_adjust + self.z_adjust + z -= x * self.x_adjust + y * self.y_adjust + self.z_adjust return [x, y, z] + pos[3:] + def move(self, newpos, speed): x, y, z = newpos[:3] - z += x*self.x_adjust + y*self.y_adjust + self.z_adjust + z += x * self.x_adjust + y * self.y_adjust + self.z_adjust self.toolhead.move([x, y, z] + newpos[3:], speed) + def update_adjust(self, x_adjust, y_adjust, z_adjust): self.x_adjust = x_adjust self.y_adjust = y_adjust self.z_adjust = z_adjust - gcode_move = self.printer.lookup_object('gcode_move') + gcode_move = self.printer.lookup_object("gcode_move") gcode_move.reset_last_position() - configfile = self.printer.lookup_object('configfile') - configfile.set('bed_tilt', 'x_adjust', "%.6f" % (x_adjust,)) - configfile.set('bed_tilt', 'y_adjust', "%.6f" % (y_adjust,)) - configfile.set('bed_tilt', 'z_adjust', "%.6f" % (z_adjust,)) + configfile = self.printer.lookup_object("configfile") + configfile.set("bed_tilt", "x_adjust", "%.6f" % (x_adjust,)) + configfile.set("bed_tilt", "y_adjust", "%.6f" % (y_adjust,)) + configfile.set("bed_tilt", "z_adjust", "%.6f" % (z_adjust,)) + # Helper script to calibrate the bed tilt class BedTiltCalibrate: @@ -51,51 +56,73 @@ class BedTiltCalibrate: self.probe_helper = probe.ProbePointsHelper(config, self.probe_finalize) self.probe_helper.minimum_points(3) # Register BED_TILT_CALIBRATE command - self.gcode = self.printer.lookup_object('gcode') + self.gcode = self.printer.lookup_object("gcode") self.gcode.register_command( - 'BED_TILT_CALIBRATE', self.cmd_BED_TILT_CALIBRATE, - desc=self.cmd_BED_TILT_CALIBRATE_help) + "BED_TILT_CALIBRATE", + self.cmd_BED_TILT_CALIBRATE, + desc=self.cmd_BED_TILT_CALIBRATE_help, + ) + cmd_BED_TILT_CALIBRATE_help = "Bed tilt calibration script" + def cmd_BED_TILT_CALIBRATE(self, gcmd): self.probe_helper.start_probe(gcmd) + def probe_finalize(self, offsets, positions): # Setup for coordinate descent analysis z_offset = offsets[2] logging.info("Calculating bed_tilt with: %s", positions) - params = { 'x_adjust': self.bedtilt.x_adjust, - 'y_adjust': self.bedtilt.y_adjust, - 'z_adjust': z_offset } + params = { + "x_adjust": self.bedtilt.x_adjust, + "y_adjust": self.bedtilt.y_adjust, + "z_adjust": z_offset, + } logging.info("Initial bed_tilt parameters: %s", params) + # Perform coordinate descent def adjusted_height(pos, params): x, y, z = pos - return (z - x*params['x_adjust'] - y*params['y_adjust'] - - params['z_adjust']) + return ( + z - x * params["x_adjust"] - y * params["y_adjust"] - params["z_adjust"] + ) + def errorfunc(params): - total_error = 0. + total_error = 0.0 for pos in positions: - total_error += adjusted_height(pos, params)**2 + total_error += adjusted_height(pos, params) ** 2 return total_error - new_params = mathutil.coordinate_descent( - params.keys(), params, errorfunc) + + new_params = mathutil.coordinate_descent(params.keys(), params, errorfunc) # Update current bed_tilt calculations - x_adjust = new_params['x_adjust'] - y_adjust = new_params['y_adjust'] - z_adjust = (new_params['z_adjust'] - z_offset - - x_adjust * offsets[0] - y_adjust * offsets[1]) + x_adjust = new_params["x_adjust"] + y_adjust = new_params["y_adjust"] + z_adjust = ( + new_params["z_adjust"] + - z_offset + - x_adjust * offsets[0] + - y_adjust * offsets[1] + ) self.bedtilt.update_adjust(x_adjust, y_adjust, z_adjust) # Log and report results logging.info("Calculated bed_tilt parameters: %s", new_params) for pos in positions: - logging.info("orig: %s new: %s", adjusted_height(pos, params), - adjusted_height(pos, new_params)) + logging.info( + "orig: %s new: %s", + adjusted_height(pos, params), + adjusted_height(pos, new_params), + ) msg = "x_adjust: %.6f y_adjust: %.6f z_adjust: %.6f" % ( - x_adjust, y_adjust, z_adjust) + x_adjust, + y_adjust, + z_adjust, + ) self.printer.set_rollover_info("bed_tilt", "bed_tilt: %s" % (msg,)) self.gcode.respond_info( "%s\nThe above parameters have been applied to the current\n" "session. The SAVE_CONFIG command will update the printer\n" - "config file and restart the printer." % (msg,)) + "config file and restart the printer." % (msg,) + ) + def load_config(config): return BedTilt(config) |