diff options
Diffstat (limited to 'klippy/extras/manual_probe.py')
| -rw-r--r-- | klippy/extras/manual_probe.py | 228 |
1 files changed, 135 insertions, 93 deletions
diff --git a/klippy/extras/manual_probe.py b/klippy/extras/manual_probe.py index 92f2d0f6..176a97e5 100644 --- a/klippy/extras/manual_probe.py +++ b/klippy/extras/manual_probe.py @@ -5,75 +5,89 @@ # This file may be distributed under the terms of the GNU GPLv3 license. import logging, bisect + # Helper to lookup the Z stepper config section def lookup_z_endstop_config(config): - if config.has_section('stepper_z'): - return config.getsection('stepper_z') - elif config.has_section('carriage z'): - return config.getsection('carriage z') + if config.has_section("stepper_z"): + return config.getsection("stepper_z") + elif config.has_section("carriage z"): + return config.getsection("carriage z") return None + class ManualProbe: def __init__(self, config): self.printer = config.get_printer() # Register commands - self.gcode = self.printer.lookup_object('gcode') + self.gcode = self.printer.lookup_object("gcode") self.gcode_move = self.printer.load_object(config, "gcode_move") - self.gcode.register_command('MANUAL_PROBE', self.cmd_MANUAL_PROBE, - desc=self.cmd_MANUAL_PROBE_help) + self.gcode.register_command( + "MANUAL_PROBE", self.cmd_MANUAL_PROBE, desc=self.cmd_MANUAL_PROBE_help + ) # Endstop value for cartesian printers with separate Z axis zconfig = lookup_z_endstop_config(config) if zconfig is not None: - self.z_position_endstop = zconfig.getfloat('position_endstop', None, - note_valid=False) + self.z_position_endstop = zconfig.getfloat( + "position_endstop", None, note_valid=False + ) self.z_endstop_config_name = zconfig.get_name() else: self.z_position_endstop = self.z_endstop_config_name = None # Endstop values for linear delta printers with vertical A,B,C towers - a_tower_config = config.getsection('stepper_a') - self.a_position_endstop = a_tower_config.getfloat('position_endstop', - None, - note_valid=False) - b_tower_config = config.getsection('stepper_b') - self.b_position_endstop = b_tower_config.getfloat('position_endstop', - None, - note_valid=False) - c_tower_config = config.getsection('stepper_c') - self.c_position_endstop = c_tower_config.getfloat('position_endstop', - None, - note_valid=False) + a_tower_config = config.getsection("stepper_a") + self.a_position_endstop = a_tower_config.getfloat( + "position_endstop", None, note_valid=False + ) + b_tower_config = config.getsection("stepper_b") + self.b_position_endstop = b_tower_config.getfloat( + "position_endstop", None, note_valid=False + ) + c_tower_config = config.getsection("stepper_c") + self.c_position_endstop = c_tower_config.getfloat( + "position_endstop", None, note_valid=False + ) # Conditionally register appropriate commands depending on printer # Cartestian printers with separate Z Axis if self.z_position_endstop is not None: self.gcode.register_command( - 'Z_ENDSTOP_CALIBRATE', self.cmd_Z_ENDSTOP_CALIBRATE, - desc=self.cmd_Z_ENDSTOP_CALIBRATE_help) + "Z_ENDSTOP_CALIBRATE", + self.cmd_Z_ENDSTOP_CALIBRATE, + desc=self.cmd_Z_ENDSTOP_CALIBRATE_help, + ) self.gcode.register_command( - 'Z_OFFSET_APPLY_ENDSTOP', + "Z_OFFSET_APPLY_ENDSTOP", self.cmd_Z_OFFSET_APPLY_ENDSTOP, - desc=self.cmd_Z_OFFSET_APPLY_ENDSTOP_help) + desc=self.cmd_Z_OFFSET_APPLY_ENDSTOP_help, + ) # Linear delta printers with A,B,C towers - if 'delta' == config.getsection('printer').get('kinematics'): + if "delta" == config.getsection("printer").get("kinematics"): self.gcode.register_command( - 'Z_OFFSET_APPLY_ENDSTOP', + "Z_OFFSET_APPLY_ENDSTOP", self.cmd_Z_OFFSET_APPLY_DELTA_ENDSTOPS, - desc=self.cmd_Z_OFFSET_APPLY_ENDSTOP_help) + desc=self.cmd_Z_OFFSET_APPLY_ENDSTOP_help, + ) self.reset_status() + def manual_probe_finalize(self, kin_pos): if kin_pos is not None: self.gcode.respond_info("Z position is %.3f" % (kin_pos[2],)) + def reset_status(self): self.status = { - 'is_active': False, - 'z_position': None, - 'z_position_lower': None, - 'z_position_upper': None + "is_active": False, + "z_position": None, + "z_position_lower": None, + "z_position_upper": None, } + def get_status(self, eventtime): return self.status + cmd_MANUAL_PROBE_help = "Start manual probe helper script" + def cmd_MANUAL_PROBE(self, gcmd): ManualProbeHelper(self.printer, gcmd, self.manual_probe_finalize) + def z_endstop_finalize(self, kin_pos): if kin_pos is None: return @@ -81,17 +95,25 @@ class ManualProbe: self.gcode.respond_info( "%s: position_endstop: %.3f\n" "The SAVE_CONFIG command will update the printer config file\n" - "with the above and restart the printer." % ( - self.z_endstop_config_name, z_pos,)) - configfile = self.printer.lookup_object('configfile') - configfile.set(self.z_endstop_config_name, 'position_endstop', - "%.3f" % (z_pos,)) + "with the above and restart the printer." + % ( + self.z_endstop_config_name, + z_pos, + ) + ) + configfile = self.printer.lookup_object("configfile") + configfile.set( + self.z_endstop_config_name, "position_endstop", "%.3f" % (z_pos,) + ) + cmd_Z_ENDSTOP_CALIBRATE_help = "Calibrate a Z endstop" + def cmd_Z_ENDSTOP_CALIBRATE(self, gcmd): ManualProbeHelper(self.printer, gcmd, self.z_endstop_finalize) - def cmd_Z_OFFSET_APPLY_ENDSTOP(self,gcmd): - offset = self.gcode_move.get_status()['homing_origin'].z - configfile = self.printer.lookup_object('configfile') + + def cmd_Z_OFFSET_APPLY_ENDSTOP(self, gcmd): + offset = self.gcode_move.get_status()["homing_origin"].z + configfile = self.printer.lookup_object("configfile") if offset == 0: self.gcode.respond_info("Nothing to do: Z Offset is 0") else: @@ -99,13 +121,18 @@ class ManualProbe: self.gcode.respond_info( "%s: position_endstop: %.3f\n" "The SAVE_CONFIG command will update the printer config file\n" - "with the above and restart the printer." % ( - self.z_endstop_config_name, new_calibrate)) - configfile.set(self.z_endstop_config_name, 'position_endstop', - "%.3f" % (new_calibrate,)) - def cmd_Z_OFFSET_APPLY_DELTA_ENDSTOPS(self,gcmd): - offset = self.gcode_move.get_status()['homing_origin'].z - configfile = self.printer.lookup_object('configfile') + "with the above and restart the printer." + % (self.z_endstop_config_name, new_calibrate) + ) + configfile.set( + self.z_endstop_config_name, + "position_endstop", + "%.3f" % (new_calibrate,), + ) + + def cmd_Z_OFFSET_APPLY_DELTA_ENDSTOPS(self, gcmd): + offset = self.gcode_move.get_status()["homing_origin"].z + configfile = self.printer.lookup_object("configfile") if offset == 0: self.gcode.respond_info("Nothing to do: Z Offset is 0") else: @@ -117,67 +144,70 @@ class ManualProbe: "stepper_b: position_endstop: %.3f\n" "stepper_c: position_endstop: %.3f\n" "The SAVE_CONFIG command will update the printer config file\n" - "with the above and restart the printer." % (new_a_calibrate, - new_b_calibrate, - new_c_calibrate)) - configfile.set('stepper_a', 'position_endstop', - "%.3f" % (new_a_calibrate,)) - configfile.set('stepper_b', 'position_endstop', - "%.3f" % (new_b_calibrate,)) - configfile.set('stepper_c', 'position_endstop', - "%.3f" % (new_c_calibrate,)) + "with the above and restart the printer." + % (new_a_calibrate, new_b_calibrate, new_c_calibrate) + ) + configfile.set("stepper_a", "position_endstop", "%.3f" % (new_a_calibrate,)) + configfile.set("stepper_b", "position_endstop", "%.3f" % (new_b_calibrate,)) + configfile.set("stepper_c", "position_endstop", "%.3f" % (new_c_calibrate,)) + cmd_Z_OFFSET_APPLY_ENDSTOP_help = "Adjust the z endstop_position" + # Verify that a manual probe isn't already in progress def verify_no_manual_probe(printer): - gcode = printer.lookup_object('gcode') + gcode = printer.lookup_object("gcode") try: - gcode.register_command('ACCEPT', 'dummy') + gcode.register_command("ACCEPT", "dummy") except printer.config_error as e: - raise gcode.error( - "Already in a manual Z probe. Use ABORT to abort it.") - gcode.register_command('ACCEPT', None) + raise gcode.error("Already in a manual Z probe. Use ABORT to abort it.") + gcode.register_command("ACCEPT", None) + Z_BOB_MINIMUM = 0.500 BISECT_MAX = 0.200 + # Helper script to determine a Z height class ManualProbeHelper: def __init__(self, printer, gcmd, finalize_callback): self.printer = printer self.finalize_callback = finalize_callback - self.gcode = self.printer.lookup_object('gcode') - self.toolhead = self.printer.lookup_object('toolhead') - self.manual_probe = self.printer.lookup_object('manual_probe') - self.speed = gcmd.get_float("SPEED", 5.) + self.gcode = self.printer.lookup_object("gcode") + self.toolhead = self.printer.lookup_object("toolhead") + self.manual_probe = self.printer.lookup_object("manual_probe") + self.speed = gcmd.get_float("SPEED", 5.0) self.past_positions = [] self.last_toolhead_pos = self.last_kinematics_pos = None # Register commands verify_no_manual_probe(printer) - self.gcode.register_command('ACCEPT', self.cmd_ACCEPT, - desc=self.cmd_ACCEPT_help) - self.gcode.register_command('NEXT', self.cmd_ACCEPT) - self.gcode.register_command('ABORT', self.cmd_ABORT, - desc=self.cmd_ABORT_help) - self.gcode.register_command('TESTZ', self.cmd_TESTZ, - desc=self.cmd_TESTZ_help) + self.gcode.register_command( + "ACCEPT", self.cmd_ACCEPT, desc=self.cmd_ACCEPT_help + ) + self.gcode.register_command("NEXT", self.cmd_ACCEPT) + self.gcode.register_command("ABORT", self.cmd_ABORT, desc=self.cmd_ABORT_help) + self.gcode.register_command("TESTZ", self.cmd_TESTZ, desc=self.cmd_TESTZ_help) self.gcode.respond_info( "Starting manual Z probe. Use TESTZ to adjust position.\n" - "Finish with ACCEPT or ABORT command.") + "Finish with ACCEPT or ABORT command." + ) self.start_position = self.toolhead.get_position() self.report_z_status() + def get_kinematics_pos(self): toolhead_pos = self.toolhead.get_position() if toolhead_pos == self.last_toolhead_pos: return self.last_kinematics_pos self.toolhead.flush_step_generation() kin = self.toolhead.get_kinematics() - kin_spos = {s.get_name(): s.get_commanded_position() - for s in kin.get_steppers()} + kin_spos = { + s.get_name(): s.get_commanded_position() for s in kin.get_steppers() + } kin_pos = kin.calc_position(kin_spos) self.last_toolhead_pos = toolhead_pos self.last_kinematics_pos = kin_pos return kin_pos + def move_z(self, z_pos): curpos = self.toolhead.get_position() try: @@ -188,13 +218,15 @@ class ManualProbeHelper: except self.printer.command_error as e: self.finalize(False) raise + def report_z_status(self, warn_no_change=False, prev_pos=None): # Get position kin_pos = self.get_kinematics_pos() z_pos = kin_pos[2] if warn_no_change and z_pos == prev_pos: self.gcode.respond_info( - "WARNING: No change in position (reached stepper resolution)") + "WARNING: No change in position (reached stepper resolution)" + ) # Find recent positions that were tested pp = self.past_positions next_pos = bisect.bisect_left(pp, z_pos) @@ -210,29 +242,37 @@ class ManualProbeHelper: next_pos_val = pp[next_pos] next_str = "%.3f" % (next_pos_val,) self.manual_probe.status = { - 'is_active': True, - 'z_position': z_pos, - 'z_position_lower': prev_pos_val, - 'z_position_upper': next_pos_val, + "is_active": True, + "z_position": z_pos, + "z_position_lower": prev_pos_val, + "z_position_upper": next_pos_val, } # Find recent positions - self.gcode.respond_info("Z position: %s --> %.3f <-- %s" - % (prev_str, z_pos, next_str)) + self.gcode.respond_info( + "Z position: %s --> %.3f <-- %s" % (prev_str, z_pos, next_str) + ) + cmd_ACCEPT_help = "Accept the current Z position" + def cmd_ACCEPT(self, gcmd): pos = self.toolhead.get_position() start_pos = self.start_position if pos[:2] != start_pos[:2] or pos[2] >= start_pos[2]: gcmd.respond_info( "Manual probe failed! Use TESTZ commands to position the\n" - "nozzle prior to running ACCEPT.") + "nozzle prior to running ACCEPT." + ) self.finalize(False) return self.finalize(True) + cmd_ABORT_help = "Abort manual Z probing tool" + def cmd_ABORT(self, gcmd): self.finalize(False) + cmd_TESTZ_help = "Move to new Z height" + def cmd_TESTZ(self, gcmd): # Store current position for later reference kin_pos = self.get_kinematics_pos() @@ -243,35 +283,37 @@ class ManualProbeHelper: pp.insert(insert_pos, z_pos) # Determine next position to move to req = gcmd.get("Z") - if req in ('+', '++'): + if req in ("+", "++"): check_z = 9999999999999.9 if insert_pos < len(self.past_positions) - 1: check_z = self.past_positions[insert_pos + 1] - if req == '+': - check_z = (check_z + z_pos) / 2. + if req == "+": + check_z = (check_z + z_pos) / 2.0 next_z_pos = min(check_z, z_pos + BISECT_MAX) - elif req in ('-', '--'): + elif req in ("-", "--"): check_z = -9999999999999.9 if insert_pos > 0: check_z = self.past_positions[insert_pos - 1] - if req == '-': - check_z = (check_z + z_pos) / 2. + if req == "-": + check_z = (check_z + z_pos) / 2.0 next_z_pos = max(check_z, z_pos - BISECT_MAX) else: next_z_pos = z_pos + gcmd.get_float("Z") # Move to given position and report it self.move_z(next_z_pos) self.report_z_status(next_z_pos != z_pos, z_pos) + def finalize(self, success): self.manual_probe.reset_status() - self.gcode.register_command('ACCEPT', None) - self.gcode.register_command('NEXT', None) - self.gcode.register_command('ABORT', None) - self.gcode.register_command('TESTZ', None) + self.gcode.register_command("ACCEPT", None) + self.gcode.register_command("NEXT", None) + self.gcode.register_command("ABORT", None) + self.gcode.register_command("TESTZ", None) kin_pos = None if success: kin_pos = self.get_kinematics_pos() self.finalize_callback(kin_pos) + def load_config(config): return ManualProbe(config) |