diff options
Diffstat (limited to 'klippy/extras/quad_gantry_level.py')
| -rw-r--r-- | klippy/extras/quad_gantry_level.py | 101 |
1 files changed, 62 insertions, 39 deletions
diff --git a/klippy/extras/quad_gantry_level.py b/klippy/extras/quad_gantry_level.py index 98cd53c5..4dbdc47e 100644 --- a/klippy/extras/quad_gantry_level.py +++ b/klippy/extras/quad_gantry_level.py @@ -22,42 +22,54 @@ from . import probe, z_tilt # | * <-- probe0 probe3 --> * | # Z stepper0 ----> O O <---- Z stepper3 + class QuadGantryLevel: def __init__(self, config): self.printer = config.get_printer() - self.retry_helper = z_tilt.RetryHelper(config, - "Possibly Z motor numbering is wrong") + self.retry_helper = z_tilt.RetryHelper( + config, "Possibly Z motor numbering is wrong" + ) self.max_adjust = config.getfloat("max_adjust", 4, above=0) self.horizontal_move_z = config.getfloat("horizontal_move_z", 5.0) self.probe_helper = probe.ProbePointsHelper(config, self.probe_finalize) if len(self.probe_helper.probe_points) != 4: - raise config.error( - "Need exactly 4 probe points for quad_gantry_level") + raise config.error("Need exactly 4 probe points for quad_gantry_level") self.z_status = z_tilt.ZAdjustStatus(self.printer) self.z_helper = z_tilt.ZAdjustHelper(config, 4) - self.gantry_corners = config.getlists('gantry_corners', parser=float, - seps=(',', '\n'), count=2) + self.gantry_corners = config.getlists( + "gantry_corners", parser=float, seps=(",", "\n"), count=2 + ) if len(self.gantry_corners) < 2: - raise config.error( - "quad_gantry_level requires at least two gantry_corners") + raise config.error("quad_gantry_level requires at least two gantry_corners") # Register QUAD_GANTRY_LEVEL command - self.gcode = self.printer.lookup_object('gcode') + self.gcode = self.printer.lookup_object("gcode") self.gcode.register_command( - 'QUAD_GANTRY_LEVEL', self.cmd_QUAD_GANTRY_LEVEL, - desc=self.cmd_QUAD_GANTRY_LEVEL_help) + "QUAD_GANTRY_LEVEL", + self.cmd_QUAD_GANTRY_LEVEL, + desc=self.cmd_QUAD_GANTRY_LEVEL_help, + ) + cmd_QUAD_GANTRY_LEVEL_help = ( - "Conform a moving, twistable gantry to the shape of a stationary bed") + "Conform a moving, twistable gantry to the shape of a stationary bed" + ) + def cmd_QUAD_GANTRY_LEVEL(self, gcmd): self.z_status.reset() self.retry_helper.start(gcmd) self.probe_helper.start_probe(gcmd) + def probe_finalize(self, offsets, positions): # Mirror our perspective so the adjustments make sense # from the perspective of the gantry z_positions = [self.horizontal_move_z - p[2] for p in positions] points_message = "Gantry-relative probe points:\n%s\n" % ( - " ".join(["%s: %.6f" % (z_id, z_positions[z_id]) - for z_id in range(len(z_positions))])) + " ".join( + [ + "%s: %.6f" % (z_id, z_positions[z_id]) + for z_id in range(len(z_positions)) + ] + ) + ) self.gcode.respond_info(points_message) # Calculate slope along X axis between probe point 0 and 3 ppx0 = [positions[0][0] + offsets[0], z_positions[0]] @@ -67,30 +79,36 @@ class QuadGantryLevel: ppx1 = [positions[1][0] + offsets[0], z_positions[1]] ppx2 = [positions[2][0] + offsets[0], z_positions[2]] slope_x_pp12 = self.linefit(ppx1, ppx2) - logging.info("quad_gantry_level f1: %s, f2: %s" - % (slope_x_pp03, slope_x_pp12)) + logging.info("quad_gantry_level f1: %s, f2: %s" % (slope_x_pp03, slope_x_pp12)) # Calculate gantry slope along Y axis between stepper 0 and 1 - a1 = [positions[0][1] + offsets[1], - self.plot(slope_x_pp03, self.gantry_corners[0][0])] - a2 = [positions[1][1] + offsets[1], - self.plot(slope_x_pp12, self.gantry_corners[0][0])] + a1 = [ + positions[0][1] + offsets[1], + self.plot(slope_x_pp03, self.gantry_corners[0][0]), + ] + a2 = [ + positions[1][1] + offsets[1], + self.plot(slope_x_pp12, self.gantry_corners[0][0]), + ] slope_y_s01 = self.linefit(a1, a2) # Calculate gantry slope along Y axis between stepper 2 and 3 - b1 = [positions[0][1] + offsets[1], - self.plot(slope_x_pp03, self.gantry_corners[1][0])] - b2 = [positions[1][1] + offsets[1], - self.plot(slope_x_pp12, self.gantry_corners[1][0])] + b1 = [ + positions[0][1] + offsets[1], + self.plot(slope_x_pp03, self.gantry_corners[1][0]), + ] + b2 = [ + positions[1][1] + offsets[1], + self.plot(slope_x_pp12, self.gantry_corners[1][0]), + ] slope_y_s23 = self.linefit(b1, b2) - logging.info("quad_gantry_level af: %s, bf: %s" - % (slope_y_s01, slope_y_s23)) + logging.info("quad_gantry_level af: %s, bf: %s" % (slope_y_s01, slope_y_s23)) # Calculate z height of each stepper - z_height = [0,0,0,0] + z_height = [0, 0, 0, 0] z_height[0] = self.plot(slope_y_s01, self.gantry_corners[0][1]) z_height[1] = self.plot(slope_y_s01, self.gantry_corners[1][1]) z_height[2] = self.plot(slope_y_s23, self.gantry_corners[1][1]) z_height[3] = self.plot(slope_y_s23, self.gantry_corners[0][1]) - ainfo = zip(["z","z1","z2","z3"], z_height[0:4]) + ainfo = zip(["z", "z1", "z2", "z3"], z_height[0:4]) apos = " ".join(["%s: %06f" % (x) for x in ainfo]) self.gcode.respond_info("Actuator Positions:\n" + apos) @@ -102,27 +120,32 @@ class QuadGantryLevel: adjust_max = max(z_adjust) if adjust_max > self.max_adjust: - raise self.gcode.error("Aborting quad_gantry_level" - " required adjustment %0.6f" - " is greater than max_adjust %0.6f" - % (adjust_max, self.max_adjust)) + raise self.gcode.error( + "Aborting quad_gantry_level" + " required adjustment %0.6f" + " is greater than max_adjust %0.6f" % (adjust_max, self.max_adjust) + ) speed = self.probe_helper.get_lift_speed() self.z_helper.adjust_steppers(z_adjust, speed) return self.z_status.check_retry_result( - self.retry_helper.check_retry(z_positions)) + self.retry_helper.check_retry(z_positions) + ) - def linefit(self,p1,p2): + def linefit(self, p1, p2): if p1[1] == p2[1]: # Straight line - return 0,p1[1] - m = (p2[1] - p1[1])/(p2[0] - p1[0]) + return 0, p1[1] + m = (p2[1] - p1[1]) / (p2[0] - p1[0]) b = p1[1] - m * p1[0] - return m,b - def plot(self,f,x): - return f[0]*x + f[1] + return m, b + + def plot(self, f, x): + return f[0] * x + f[1] + def get_status(self, eventtime): return self.z_status.get_status(eventtime) + def load_config(config): return QuadGantryLevel(config) |