diff options
Diffstat (limited to 'klippy/extras/quad_gantry_level.py')
| -rw-r--r-- | klippy/extras/quad_gantry_level.py | 59 |
1 files changed, 41 insertions, 18 deletions
diff --git a/klippy/extras/quad_gantry_level.py b/klippy/extras/quad_gantry_level.py index 79e5c8ba..43173e15 100644 --- a/klippy/extras/quad_gantry_level.py +++ b/klippy/extras/quad_gantry_level.py @@ -6,6 +6,22 @@ import logging from . import probe, z_tilt +# Leveling code for XY rails that are controlled by Z steppers as in: +# +# Z stepper1 ----> O O <---- Z stepper2 +# | * <-- probe1 probe2 --> * | +# | | +# | | <--- Y2 rail +# Y1 rail -----> | | +# | | +# |=============================| +# | ^ | +# | | | +# | X rail --/ | +# | | +# | * <-- probe0 probe3 --> * | +# Z stepper0 ----> O O <---- Z stepper3 + class QuadGantryLevel: def __init__(self, config): self.printer = config.get_printer() @@ -48,29 +64,36 @@ class QuadGantryLevel: " ".join(["%s: %.6f" % (z_id, z_positions[z_id]) for z_id in range(len(z_positions))])) self.gcode.respond_info(points_message) - p1 = [positions[0][0] + offsets[0],z_positions[0]] - p2 = [positions[1][0] + offsets[0],z_positions[1]] - p3 = [positions[2][0] + offsets[0],z_positions[2]] - p4 = [positions[3][0] + offsets[0],z_positions[3]] - f1 = self.linefit(p1,p4) - f2 = self.linefit(p2,p3) - logging.info("quad_gantry_level f1: %s, f2: %s" % (f1,f2)) + # Calculate slope along X axis between probe point 0 and 3 + ppx0 = [positions[0][0] + offsets[0], z_positions[0]] + ppx3 = [positions[3][0] + offsets[0], z_positions[3]] + slope_x_pp03 = self.linefit(ppx0, ppx3) + # Calculate slope along X axis between probe point 1 and 2 + 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)) + # Calculate gantry slope along Y axis between stepper 0 and 1 a1 = [positions[0][1] + offsets[1], - self.plot(f1,self.gantry_corners[0][0])] + self.plot(slope_x_pp03, self.gantry_corners[0][0])] a2 = [positions[1][1] + offsets[1], - self.plot(f2,self.gantry_corners[0][0])] + 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(f1,self.gantry_corners[1][0])] + self.plot(slope_x_pp03, self.gantry_corners[1][0])] b2 = [positions[1][1] + offsets[1], - self.plot(f2,self.gantry_corners[1][0])] - af = self.linefit(a1,a2) - bf = self.linefit(b1,b2) - logging.info("quad_gantry_level af: %s, bf: %s" % (af,bf)) + 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)) + # Calculate z height of each stepper z_height = [0,0,0,0] - z_height[0] = self.plot(af,self.gantry_corners[0][1]) - z_height[1] = self.plot(af,self.gantry_corners[1][1]) - z_height[2] = self.plot(bf,self.gantry_corners[1][1]) - z_height[3] = self.plot(bf,self.gantry_corners[0][1]) + 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]) apos = " ".join(["%s: %06f" % (x) for x in ainfo]) |