diff options
Diffstat (limited to 'klippy/extras/z_tilt.py')
| -rw-r--r-- | klippy/extras/z_tilt.py | 142 |
1 files changed, 91 insertions, 51 deletions
diff --git a/klippy/extras/z_tilt.py b/klippy/extras/z_tilt.py index 9f5ea0b9..f000370c 100644 --- a/klippy/extras/z_tilt.py +++ b/klippy/extras/z_tilt.py @@ -7,32 +7,37 @@ import logging import mathutil from . import probe + class ZAdjustHelper: def __init__(self, config, z_count): self.printer = config.get_printer() self.name = config.get_name() self.z_count = z_count self.z_steppers = [] - self.printer.register_event_handler("klippy:connect", - self.handle_connect) + self.printer.register_event_handler("klippy:connect", self.handle_connect) + def handle_connect(self): - kin = self.printer.lookup_object('toolhead').get_kinematics() - z_steppers = [s for s in kin.get_steppers() if s.is_active_axis('z')] + kin = self.printer.lookup_object("toolhead").get_kinematics() + z_steppers = [s for s in kin.get_steppers() if s.is_active_axis("z")] if len(z_steppers) != self.z_count: raise self.printer.config_error( - "%s z_positions needs exactly %d items" % ( - self.name, len(z_steppers))) + "%s z_positions needs exactly %d items" % (self.name, len(z_steppers)) + ) if len(z_steppers) < 2: raise self.printer.config_error( - "%s requires multiple z steppers" % (self.name,)) + "%s requires multiple z steppers" % (self.name,) + ) self.z_steppers = z_steppers + def adjust_steppers(self, adjustments, speed): - toolhead = self.printer.lookup_object('toolhead') - gcode = self.printer.lookup_object('gcode') + toolhead = self.printer.lookup_object("toolhead") + gcode = self.printer.lookup_object("gcode") curpos = toolhead.get_position() # Report on movements - stepstrs = ["%s = %.6f" % (s.get_name(), a) - for s, a in zip(self.z_steppers, adjustments)] + stepstrs = [ + "%s = %.6f" % (s.get_name(), a) + for s, a in zip(self.z_steppers, adjustments) + ] msg = "Making the following Z adjustments:\n%s" % ("\n".join(stepstrs),) gcode.respond_info(msg) # Disable Z stepper movements @@ -44,9 +49,9 @@ class ZAdjustHelper: positions.sort(key=(lambda k: k[0])) first_stepper_offset, first_stepper = positions[0] z_low = curpos[2] - first_stepper_offset - for i in range(len(positions)-1): + for i in range(len(positions) - 1): stepper_offset, stepper = positions[i] - next_stepper_offset, next_stepper = positions[i+1] + next_stepper_offset, next_stepper = positions[i + 1] toolhead.flush_step_generation() stepper.set_trapq(toolhead.get_trapq()) curpos[2] = z_low + next_stepper_offset @@ -66,39 +71,48 @@ class ZAdjustHelper: curpos[2] += first_stepper_offset toolhead.set_position(curpos) + class ZAdjustStatus: def __init__(self, printer): self.applied = False - printer.register_event_handler("stepper_enable:motor_off", - self._motor_off) + printer.register_event_handler("stepper_enable:motor_off", self._motor_off) + def check_retry_result(self, retry_result): if retry_result == "done": self.applied = True return retry_result + def reset(self): self.applied = False + def get_status(self, eventtime): - return {'applied': self.applied} + return {"applied": self.applied} + def _motor_off(self, print_time): self.reset() + class RetryHelper: - def __init__(self, config, error_msg_extra = ""): - self.gcode = config.get_printer().lookup_object('gcode') + def __init__(self, config, error_msg_extra=""): + self.gcode = config.get_printer().lookup_object("gcode") self.default_max_retries = config.getint("retries", 0, minval=0) - self.default_retry_tolerance = \ - config.getfloat("retry_tolerance", 0., above=0.) + self.default_retry_tolerance = config.getfloat( + "retry_tolerance", 0.0, above=0.0 + ) self.value_label = "Probed points range" self.error_msg_extra = error_msg_extra + def start(self, gcmd): - self.max_retries = gcmd.get_int('RETRIES', self.default_max_retries, - minval=0, maxval=30) - self.retry_tolerance = gcmd.get_float('RETRY_TOLERANCE', - self.default_retry_tolerance, - minval=0.0, maxval=1.0) + self.max_retries = gcmd.get_int( + "RETRIES", self.default_max_retries, minval=0, maxval=30 + ) + self.retry_tolerance = gcmd.get_float( + "RETRY_TOLERANCE", self.default_retry_tolerance, minval=0.0, maxval=1.0 + ) self.current_retry = 0 self.previous = None self.increasing = 0 + def check_increase(self, error): if self.previous and error > self.previous + 0.0000001: self.increasing += 1 @@ -106,17 +120,26 @@ class RetryHelper: self.increasing -= 1 self.previous = error return self.increasing > 1 + def check_retry(self, z_positions): if self.max_retries == 0: return "done" - error = round(max(z_positions) - min(z_positions),6) + error = round(max(z_positions) - min(z_positions), 6) self.gcode.respond_info( - "Retries: %d/%d %s: %0.6f tolerance: %0.6f" % ( - self.current_retry, self.max_retries, self.value_label, - error, self.retry_tolerance)) + "Retries: %d/%d %s: %0.6f tolerance: %0.6f" + % ( + self.current_retry, + self.max_retries, + self.value_label, + error, + self.retry_tolerance, + ) + ) if self.check_increase(error): - raise self.gcode.error("Retries aborting: %s is increasing. %s" - % (self.value_label, self.error_msg_extra)) + raise self.gcode.error( + "Retries aborting: %s is increasing. %s" + % (self.value_label, self.error_msg_extra) + ) if error <= self.retry_tolerance: return "done" self.current_retry += 1 @@ -124,56 +147,73 @@ class RetryHelper: raise self.gcode.error("Too many retries") return "retry" + class ZTilt: def __init__(self, config): self.printer = config.get_printer() - self.z_positions = config.getlists('z_positions', seps=(',', '\n'), - parser=float, count=2) + self.z_positions = config.getlists( + "z_positions", seps=(",", "\n"), parser=float, count=2 + ) self.retry_helper = RetryHelper(config) self.probe_helper = probe.ProbePointsHelper(config, self.probe_finalize) self.probe_helper.minimum_points(2) self.z_status = ZAdjustStatus(self.printer) self.z_helper = ZAdjustHelper(config, len(self.z_positions)) # Register Z_TILT_ADJUST command - gcode = self.printer.lookup_object('gcode') - gcode.register_command('Z_TILT_ADJUST', self.cmd_Z_TILT_ADJUST, - desc=self.cmd_Z_TILT_ADJUST_help) + gcode = self.printer.lookup_object("gcode") + gcode.register_command( + "Z_TILT_ADJUST", self.cmd_Z_TILT_ADJUST, desc=self.cmd_Z_TILT_ADJUST_help + ) + cmd_Z_TILT_ADJUST_help = "Adjust the Z tilt" + def cmd_Z_TILT_ADJUST(self, gcmd): self.z_status.reset() self.retry_helper.start(gcmd) self.probe_helper.start_probe(gcmd) + def probe_finalize(self, offsets, positions): # Setup for coordinate descent analysis z_offset = offsets[2] logging.info("Calculating bed tilt with: %s", positions) - params = { 'x_adjust': 0., 'y_adjust': 0., 'z_adjust': z_offset } + params = {"x_adjust": 0.0, "y_adjust": 0.0, "z_adjust": z_offset} + # Perform coordinate descent def adjusted_height(pos, params): x, y, z = pos - return (z - x*params['x_adjust'] - y*params['y_adjust'] - - params['z_adjust']) + return ( + z - x * params["x_adjust"] - y * params["y_adjust"] - params["z_adjust"] + ) + def errorfunc(params): - total_error = 0. + total_error = 0.0 for pos in positions: - total_error += adjusted_height(pos, params)**2 + total_error += adjusted_height(pos, params) ** 2 return total_error - new_params = mathutil.coordinate_descent( - params.keys(), params, errorfunc) + + new_params = mathutil.coordinate_descent(params.keys(), params, errorfunc) # Apply results speed = self.probe_helper.get_lift_speed() logging.info("Calculated bed tilt parameters: %s", new_params) - x_adjust = new_params['x_adjust'] - y_adjust = new_params['y_adjust'] - z_adjust = (new_params['z_adjust'] - z_offset - - x_adjust * offsets[0] - y_adjust * offsets[1]) - adjustments = [x*x_adjust + y*y_adjust + z_adjust - for x, y in self.z_positions] + x_adjust = new_params["x_adjust"] + y_adjust = new_params["y_adjust"] + z_adjust = ( + new_params["z_adjust"] + - z_offset + - x_adjust * offsets[0] + - y_adjust * offsets[1] + ) + adjustments = [ + x * x_adjust + y * y_adjust + z_adjust for x, y in self.z_positions + ] self.z_helper.adjust_steppers(adjustments, speed) return self.z_status.check_retry_result( - self.retry_helper.check_retry([p[2] for p in positions])) + self.retry_helper.check_retry([p[2] for p in positions]) + ) + def get_status(self, eventtime): - return self.z_status.get_status(eventtime) + return self.z_status.get_status(eventtime) + def load_config(config): return ZTilt(config) |