diff options
Diffstat (limited to 'klippy/extras/probe.py')
| -rw-r--r-- | klippy/extras/probe.py | 140 |
1 files changed, 74 insertions, 66 deletions
diff --git a/klippy/extras/probe.py b/klippy/extras/probe.py index c3b8a0db..fbafb0b7 100644 --- a/klippy/extras/probe.py +++ b/klippy/extras/probe.py @@ -13,6 +13,22 @@ consider reducing the Z axis minimum position so the probe can travel further (the Z minimum position can be negative). """ +# Calculate the average Z from a set of positions +def calc_probe_z_average(positions, method='average'): + if method != 'median': + # Use mean average + count = float(len(positions)) + return [sum([pos[i] for pos in positions]) / count + for i in range(3)] + # Use median + z_sorted = sorted(positions, key=(lambda p: p[2])) + middle = len(positions) // 2 + if (len(positions) & 1) == 1: + # odd number of samples + return z_sorted[middle] + # even number of samples + return calc_probe_z_average(z_sorted[middle-1:middle+1], 'average') + ###################################################################### # Probe device implementation helpers @@ -39,6 +55,8 @@ class ProbeCommandHelper: gcode.register_command('PROBE_CALIBRATE', self.cmd_PROBE_CALIBRATE, desc=self.cmd_PROBE_CALIBRATE_help) # Other commands + gcode.register_command('PROBE_ACCURACY', self.cmd_PROBE_ACCURACY, + desc=self.cmd_PROBE_ACCURACY_help) gcode.register_command('Z_OFFSET_APPLY_PROBE', self.cmd_Z_OFFSET_APPLY_PROBE, desc=self.cmd_Z_OFFSET_APPLY_PROBE_help) @@ -91,6 +109,51 @@ class ProbeCommandHelper: # Start manual probe manual_probe.ManualProbeHelper(self.printer, gcmd, self.probe_calibrate_finalize) + cmd_PROBE_ACCURACY_help = "Probe Z-height accuracy at current XY position" + def cmd_PROBE_ACCURACY(self, gcmd): + params = self.probe.get_probe_params(gcmd) + sample_count = gcmd.get_int("SAMPLES", 10, minval=1) + toolhead = self.printer.lookup_object('toolhead') + pos = toolhead.get_position() + gcmd.respond_info("PROBE_ACCURACY at X:%.3f Y:%.3f Z:%.3f" + " (samples=%d retract=%.3f" + " speed=%.1f lift_speed=%.1f)\n" + % (pos[0], pos[1], pos[2], + sample_count, params['sample_retract_dist'], + params['probe_speed'], params['lift_speed'])) + # Create dummy gcmd with SAMPLES=1 + fo_params = dict(gcmd.get_command_parameters()) + fo_params['SAMPLES'] = '1' + gcode = self.printer.lookup_object('gcode') + fo_gcmd = gcode.create_gcode_command("", "", fo_params) + # Probe bed sample_count times + probe_session = self.probe.start_probe_session(fo_gcmd) + probe_session.multi_probe_begin() + positions = [] + while len(positions) < sample_count: + # Probe position + pos = probe_session.run_probe(fo_gcmd) + positions.append(pos) + # Retract + liftpos = [None, None, pos[2] + params['sample_retract_dist']] + self._move(liftpos, params['lift_speed']) + probe_session.multi_probe_end() + # Calculate maximum, minimum and average values + max_value = max([p[2] for p in positions]) + min_value = min([p[2] for p in positions]) + range_value = max_value - min_value + avg_value = calc_probe_z_average(positions, 'average')[2] + median = calc_probe_z_average(positions, 'median')[2] + # calculate the standard deviation + deviation_sum = 0 + for i in range(len(positions)): + deviation_sum += pow(positions[i][2] - avg_value, 2.) + sigma = (deviation_sum / len(positions)) ** 0.5 + # Show information + gcmd.respond_info( + "probe accuracy results: maximum %.6f, minimum %.6f, range %.6f, " + "average %.6f, median %.6f, standard deviation %.6f" % ( + max_value, min_value, range_value, avg_value, median, sigma)) cmd_Z_OFFSET_APPLY_PROBE_help = "Adjust the probe's z_offset" def cmd_Z_OFFSET_APPLY_PROBE(self, gcmd): gcode_move = self.printer.lookup_object("gcode_move") @@ -119,6 +182,8 @@ class ProbeSessionHelper: self.y_offset = config.getfloat('y_offset', 0.) self.z_offset = config.getfloat('z_offset') self.multi_probe_pending = False + gcode = self.printer.lookup_object('gcode') + self.dummy_gcode_cmd = gcode.create_gcode_command("", "", {}) # Infer Z position to move to during a probe if config.has_section('stepper_z'): zconfig = config.getsection('stepper_z') @@ -152,11 +217,6 @@ class ProbeSessionHelper: self._handle_home_rails_end) self.printer.register_event_handler("gcode:command_error", self._handle_command_error) - # Register PROBE/QUERY_PROBE commands - self.gcode = self.printer.lookup_object('gcode') - self.gcode.register_command('PROBE_ACCURACY', self.cmd_PROBE_ACCURACY, - desc=self.cmd_PROBE_ACCURACY_help) - self.dummy_gcode_cmd = self.gcode.create_gcode_command("", "", {}) def _handle_homing_move_begin(self, hmove): if self.mcu_probe in hmove.get_mcu_endstops(): self.mcu_probe.probe_prepare(hmove) @@ -234,29 +294,17 @@ class ProbeSessionHelper: axis_twist_compensation.get_z_compensation_value(pos)) # add z compensation to probe position epos[2] += z_compensation - self.gcode.respond_info("probe at %.3f,%.3f is z=%.6f" - % (epos[0], epos[1], epos[2])) + gcode = self.printer.lookup_object('gcode') + gcode.respond_info("probe at %.3f,%.3f is z=%.6f" + % (epos[0], epos[1], epos[2])) return epos[:3] - def _move(self, coord, speed): - self.printer.lookup_object('toolhead').manual_move(coord, speed) - def _calc_mean(self, positions): - count = float(len(positions)) - return [sum([pos[i] for pos in positions]) / count - for i in range(3)] - def _calc_median(self, positions): - z_sorted = sorted(positions, key=(lambda p: p[2])) - middle = len(positions) // 2 - if (len(positions) & 1) == 1: - # odd number of samples - return z_sorted[middle] - # even number of samples - return self._calc_mean(z_sorted[middle-1:middle+1]) def run_probe(self, gcmd): params = self.get_probe_params(gcmd) must_notify_multi_probe = not self.multi_probe_pending if must_notify_multi_probe: self.multi_probe_begin() - probexy = self.printer.lookup_object('toolhead').get_position()[:2] + toolhead = self.printer.lookup_object('toolhead') + probexy = toolhead.get_position()[:2] retries = 0 positions = [] sample_count = params['samples'] @@ -274,53 +322,13 @@ class ProbeSessionHelper: positions = [] # Retract if len(positions) < sample_count: - self._move(probexy + [pos[2] + params['sample_retract_dist']], - params['lift_speed']) + toolhead.manual_move( + probexy + [pos[2] + params['sample_retract_dist']], + params['lift_speed']) if must_notify_multi_probe: self.multi_probe_end() # Calculate and return result - if params['samples_result'] == 'median': - return self._calc_median(positions) - return self._calc_mean(positions) - cmd_PROBE_ACCURACY_help = "Probe Z-height accuracy at current XY position" - def cmd_PROBE_ACCURACY(self, gcmd): - params = self.get_probe_params(gcmd) - sample_count = gcmd.get_int("SAMPLES", 10, minval=1) - toolhead = self.printer.lookup_object('toolhead') - pos = toolhead.get_position() - gcmd.respond_info("PROBE_ACCURACY at X:%.3f Y:%.3f Z:%.3f" - " (samples=%d retract=%.3f" - " speed=%.1f lift_speed=%.1f)\n" - % (pos[0], pos[1], pos[2], - sample_count, params['sample_retract_dist'], - params['probe_speed'], params['lift_speed'])) - # Probe bed sample_count times - self.multi_probe_begin() - positions = [] - while len(positions) < sample_count: - # Probe position - pos = self._probe(params['probe_speed']) - positions.append(pos) - # Retract - liftpos = [None, None, pos[2] + params['sample_retract_dist']] - self._move(liftpos, params['lift_speed']) - self.multi_probe_end() - # Calculate maximum, minimum and average values - max_value = max([p[2] for p in positions]) - min_value = min([p[2] for p in positions]) - range_value = max_value - min_value - avg_value = self._calc_mean(positions)[2] - median = self._calc_median(positions)[2] - # calculate the standard deviation - deviation_sum = 0 - for i in range(len(positions)): - deviation_sum += pow(positions[i][2] - avg_value, 2.) - sigma = (deviation_sum / len(positions)) ** 0.5 - # Show information - gcmd.respond_info( - "probe accuracy results: maximum %.6f, minimum %.6f, range %.6f, " - "average %.6f, median %.6f, standard deviation %.6f" % ( - max_value, min_value, range_value, avg_value, median, sigma)) + return calc_probe_z_average(positions, params['samples_result']) ###################################################################### |