diff options
Diffstat (limited to 'klippy/extras/probe.py')
| -rw-r--r-- | klippy/extras/probe.py | 86 |
1 files changed, 86 insertions, 0 deletions
diff --git a/klippy/extras/probe.py b/klippy/extras/probe.py index 73bdfafa..aeebf725 100644 --- a/klippy/extras/probe.py +++ b/klippy/extras/probe.py @@ -3,6 +3,7 @@ # Copyright (C) 2017-2018 Kevin O'Connor <kevin@koconnor.net> # # This file may be distributed under the terms of the GNU GPLv3 license. +import logging import homing class PrinterProbe: @@ -48,6 +49,91 @@ class PrinterProbe: self.gcode.respond_info( "probe: %s" % (["open", "TRIGGERED"][not not res],)) +# Helper code that can probe a series of points and report the +# position at each point. +class ProbePointsHelper: + def __init__(self, printer, probe_points, horizontal_move_z, speed, + manual_probe, callback): + self.printer = printer + self.probe_points = probe_points + self.horizontal_move_z = horizontal_move_z + self.speed = speed + self.callback = callback + self.toolhead = self.printer.lookup_object('toolhead') + self.results = [] + self.busy = True + self.gcode = self.printer.lookup_object('gcode') + self.gcode.register_command( + 'NEXT', self.cmd_NEXT, desc=self.cmd_NEXT_help) + # Begin probing + self.move_next() + if not manual_probe: + while self.busy: + self.gcode.run_script("PROBE") + self.cmd_NEXT({}) + def move_next(self): + x, y = self.probe_points[len(self.results)] + curpos = self.toolhead.get_position() + curpos[0] = x + curpos[1] = y + curpos[2] = self.horizontal_move_z + self.toolhead.move(curpos, self.speed) + self.gcode.reset_last_position() + cmd_NEXT_help = "Move to the next XY position to probe" + def cmd_NEXT(self, params): + # Record current position + self.toolhead.wait_moves() + self.results.append(self.callback.get_position()) + # Move to next position + curpos = self.toolhead.get_position() + curpos[2] = self.horizontal_move_z + self.toolhead.move(curpos, self.speed) + if len(self.results) == len(self.probe_points): + self.toolhead.get_last_move_time() + self.finalize(True) + return + self.move_next() + def finalize(self, success): + self.busy = False + self.gcode.reset_last_position() + self.gcode.register_command('NEXT', None) + if success: + self.callback.finalize(self.results) + +# Helper code that implements coordinate descent +def coordinate_descent(adj_params, params, error_func): + # Define potential changes + params = dict(params) + dp = {param_name: 1. for param_name in adj_params} + # Calculate the error + best_err = error_func(params) + + threshold = 0.00001 + rounds = 0 + + while sum(dp.values()) > threshold and rounds < 10000: + rounds += 1 + for param_name in adj_params: + orig = params[param_name] + params[param_name] = orig + dp[param_name] + err = error_func(params) + if err < best_err: + # There was some improvement + best_err = err + dp[param_name] *= 1.1 + continue + params[param_name] = orig - dp[param_name] + err = error_func(params) + if err < best_err: + # There was some improvement + best_err = err + dp[param_name] *= 1.1 + continue + params[param_name] = orig + dp[param_name] *= 0.9 + logging.debug("best_err: %s rounds: %d", best_err, rounds) + return params + def load_config(config): if config.get_name() != 'probe': raise config.error("Invalid probe config name") |