diff options
Diffstat (limited to 'klippy/extras/z_thermal_adjust.py')
| -rw-r--r-- | klippy/extras/z_thermal_adjust.py | 134 |
1 files changed, 70 insertions, 64 deletions
diff --git a/klippy/extras/z_thermal_adjust.py b/klippy/extras/z_thermal_adjust.py index a3a5997e..d33d367a 100644 --- a/klippy/extras/z_thermal_adjust.py +++ b/klippy/extras/z_thermal_adjust.py @@ -11,87 +11,89 @@ import threading KELVIN_TO_CELSIUS = -273.15 + class ZThermalAdjuster: def __init__(self, config): self.printer = config.get_printer() - self.gcode = self.printer.lookup_object('gcode') + self.gcode = self.printer.lookup_object("gcode") self.lock = threading.Lock() # Get config parameters, convert to SI units where necessary - self.temp_coeff = config.getfloat('temp_coeff', minval=-1, maxval=1, - default=0) - self.off_above_z = config.getfloat('z_adjust_off_above', 99999999.) - self.max_z_adjust_mm = config.getfloat('max_z_adjustment', 99999999.) + self.temp_coeff = config.getfloat("temp_coeff", minval=-1, maxval=1, default=0) + self.off_above_z = config.getfloat("z_adjust_off_above", 99999999.0) + self.max_z_adjust_mm = config.getfloat("max_z_adjustment", 99999999.0) # Register printer events - self.printer.register_event_handler("klippy:connect", - self.handle_connect) - self.printer.register_event_handler("homing:home_rails_end", - self.handle_homing_move_end) + self.printer.register_event_handler("klippy:connect", self.handle_connect) + self.printer.register_event_handler( + "homing:home_rails_end", self.handle_homing_move_end + ) # Setup temperature sensor - self.smooth_time = config.getfloat('smooth_time', 2., above=0.) - self.inv_smooth_time = 1. / self.smooth_time - self.min_temp = config.getfloat('min_temp', minval=KELVIN_TO_CELSIUS) - self.max_temp = config.getfloat('max_temp', above=self.min_temp) - pheaters = self.printer.load_object(config, 'heaters') + self.smooth_time = config.getfloat("smooth_time", 2.0, above=0.0) + self.inv_smooth_time = 1.0 / self.smooth_time + self.min_temp = config.getfloat("min_temp", minval=KELVIN_TO_CELSIUS) + self.max_temp = config.getfloat("max_temp", above=self.min_temp) + pheaters = self.printer.load_object(config, "heaters") self.sensor = pheaters.setup_sensor(config) self.sensor.setup_minmax(self.min_temp, self.max_temp) self.sensor.setup_callback(self.temperature_callback) pheaters.register_sensor(config, self) - self.last_temp = 0. - self.measured_min = self.measured_max = 0. - self.smoothed_temp = 0. - self.last_temp_time = 0. - self.ref_temperature = 0. + self.last_temp = 0.0 + self.measured_min = self.measured_max = 0.0 + self.smoothed_temp = 0.0 + self.last_temp_time = 0.0 + self.ref_temperature = 0.0 self.ref_temp_override = False # Z transformation - self.z_adjust_mm = 0. - self.last_z_adjust_mm = 0. + self.z_adjust_mm = 0.0 + self.last_z_adjust_mm = 0.0 self.adjust_enable = True - self.last_position = [0., 0., 0., 0.] + self.last_position = [0.0, 0.0, 0.0, 0.0] self.next_transform = None # Register gcode commands - self.gcode.register_command('SET_Z_THERMAL_ADJUST', - self.cmd_SET_Z_THERMAL_ADJUST, - desc=self.cmd_SET_Z_THERMAL_ADJUST_help) + self.gcode.register_command( + "SET_Z_THERMAL_ADJUST", + self.cmd_SET_Z_THERMAL_ADJUST, + desc=self.cmd_SET_Z_THERMAL_ADJUST_help, + ) def handle_connect(self): - 'Called after all printer objects are instantiated' - self.toolhead = self.printer.lookup_object('toolhead') - gcode_move = self.printer.lookup_object('gcode_move') + "Called after all printer objects are instantiated" + self.toolhead = self.printer.lookup_object("toolhead") + gcode_move = self.printer.lookup_object("gcode_move") # Register move transformation self.next_transform = gcode_move.set_move_transform(self, force=True) # Pull Z step distance for minimum adjustment increment - kin = self.printer.lookup_object('toolhead').get_kinematics() + kin = self.printer.lookup_object("toolhead").get_kinematics() steppers = [s.get_name() for s in kin.get_steppers()] z_stepper = kin.get_steppers()[steppers.index("stepper_z")] self.z_step_dist = z_stepper.get_step_dist() def get_status(self, eventtime): return { - 'temperature': self.smoothed_temp, - 'measured_min_temp': round(self.measured_min, 2), - 'measured_max_temp': round(self.measured_max, 2), - 'current_z_adjust': self.z_adjust_mm, - 'z_adjust_ref_temperature': self.ref_temperature, - 'enabled': self.adjust_enable + "temperature": self.smoothed_temp, + "measured_min_temp": round(self.measured_min, 2), + "measured_max_temp": round(self.measured_max, 2), + "current_z_adjust": self.z_adjust_mm, + "z_adjust_ref_temperature": self.ref_temperature, + "enabled": self.adjust_enable, } def handle_homing_move_end(self, homing_state, rails): - 'Set reference temperature after Z homing.' + "Set reference temperature after Z homing." if 2 in homing_state.get_axes(): self.ref_temperature = self.smoothed_temp self.ref_temp_override = False - self.z_adjust_mm = 0. + self.z_adjust_mm = 0.0 def calc_adjust(self, pos): - 'Z adjustment calculation' + "Z adjustment calculation" if pos[2] < self.off_above_z: delta_t = self.smoothed_temp - self.ref_temperature @@ -99,12 +101,11 @@ class ZThermalAdjuster: adjust = -1 * self.temp_coeff * delta_t # compute sign (+1 or -1) for maximum offset setting - sign = 1 - (adjust <= 0)*2 + sign = 1 - (adjust <= 0) * 2 # Don't apply adjustments smaller than step distance if abs(adjust - self.z_adjust_mm) > self.z_step_dist: - self.z_adjust_mm = min([self.max_z_adjust_mm*sign, - adjust], key=abs) + self.z_adjust_mm = min([self.max_z_adjust_mm * sign, adjust], key=abs) # Apply Z adjustment new_z = pos[2] + self.z_adjust_mm @@ -112,7 +113,7 @@ class ZThermalAdjuster: return [pos[0], pos[1], new_z] + pos[3:] def calc_unadjust(self, pos): - 'Remove Z adjustment' + "Remove Z adjustment" unadjusted_z = pos[2] - self.z_adjust_mm return [pos[0], pos[1], unadjusted_z] + pos[3:] @@ -133,27 +134,27 @@ class ZThermalAdjuster: self.last_position[:] = newpos def temperature_callback(self, read_time, temp): - 'Called everytime the Z adjust thermistor is read' + "Called everytime the Z adjust thermistor is read" with self.lock: time_diff = read_time - self.last_temp_time self.last_temp = temp self.last_temp_time = read_time temp_diff = temp - self.smoothed_temp - adj_time = min(time_diff * self.inv_smooth_time, 1.) + adj_time = min(time_diff * self.inv_smooth_time, 1.0) self.smoothed_temp += temp_diff * adj_time self.measured_min = min(self.measured_min, self.smoothed_temp) self.measured_max = max(self.measured_max, self.smoothed_temp) def get_temp(self, eventtime): - return self.smoothed_temp, 0. + return self.smoothed_temp, 0.0 def stats(self, eventtime): - return False, '%s: temp=%.1f' % ("z_thermal_adjust", self.smoothed_temp) + return False, "%s: temp=%.1f" % ("z_thermal_adjust", self.smoothed_temp) def cmd_SET_Z_THERMAL_ADJUST(self, gcmd): - enable = gcmd.get_int('ENABLE', None, minval=0, maxval=1) - coeff = gcmd.get_float('TEMP_COEFF', None, minval=-1, maxval=1) - ref_temp = gcmd.get_float('REF_TEMP', None, minval=KELVIN_TO_CELSIUS) + enable = gcmd.get_int("ENABLE", None, minval=0, maxval=1) + coeff = gcmd.get_float("TEMP_COEFF", None, minval=-1, maxval=1) + ref_temp = gcmd.get_float("REF_TEMP", None, minval=KELVIN_TO_CELSIUS) if ref_temp is not None: self.ref_temperature = ref_temp @@ -163,26 +164,31 @@ class ZThermalAdjuster: if enable is not None: if enable != self.adjust_enable: self.adjust_enable = True if enable else False - gcode_move = self.printer.lookup_object('gcode_move') + gcode_move = self.printer.lookup_object("gcode_move") gcode_move.reset_last_position() - state = '1 (enabled)' if self.adjust_enable else '0 (disabled)' - override = ' (manual)' if self.ref_temp_override else '' - msg = ("enable: %s\n" - "temp_coeff: %f mm/degC\n" - "ref_temp: %.2f degC%s\n" - "-------------------\n" - "Current Z temp: %.2f degC\n" - "Applied Z adjustment: %.4f mm" - % (state, - self.temp_coeff, - self.ref_temperature, override, - self.smoothed_temp, - self.z_adjust_mm) + state = "1 (enabled)" if self.adjust_enable else "0 (disabled)" + override = " (manual)" if self.ref_temp_override else "" + msg = ( + "enable: %s\n" + "temp_coeff: %f mm/degC\n" + "ref_temp: %.2f degC%s\n" + "-------------------\n" + "Current Z temp: %.2f degC\n" + "Applied Z adjustment: %.4f mm" + % ( + state, + self.temp_coeff, + self.ref_temperature, + override, + self.smoothed_temp, + self.z_adjust_mm, + ) ) gcmd.respond_info(msg) - cmd_SET_Z_THERMAL_ADJUST_help = 'Set/query Z Thermal Adjust parameters.' + cmd_SET_Z_THERMAL_ADJUST_help = "Set/query Z Thermal Adjust parameters." + def load_config(config): return ZThermalAdjuster(config) |