diff options
Diffstat (limited to 'klippy/extras')
| -rw-r--r-- | klippy/extras/probe.py | 2 | ||||
| -rw-r--r-- | klippy/extras/z_tilt.py | 109 |
2 files changed, 111 insertions, 0 deletions
diff --git a/klippy/extras/probe.py b/klippy/extras/probe.py index 7408c90d..ee7757fe 100644 --- a/klippy/extras/probe.py +++ b/klippy/extras/probe.py @@ -169,6 +169,8 @@ class ProbePointsHelper: self.results = [] self.busy = False self.gcode = self.toolhead = None + def get_lift_speed(self): + return self.lift_speed def start_probe(self): # Begin probing self.toolhead = self.printer.lookup_object('toolhead') diff --git a/klippy/extras/z_tilt.py b/klippy/extras/z_tilt.py new file mode 100644 index 00000000..4966a2e3 --- /dev/null +++ b/klippy/extras/z_tilt.py @@ -0,0 +1,109 @@ +# Mechanical bed tilt calibration with multiple Z steppers +# +# Copyright (C) 2018 Kevin O'Connor <kevin@koconnor.net> +# +# This file may be distributed under the terms of the GNU GPLv3 license. +import logging +import probe, mathutil + +class ZTilt: + def __init__(self, config): + self.printer = config.get_printer() + z_positions = config.get('z_positions').split('\n') + try: + z_positions = [line.split(',', 1) + for line in z_positions if line.strip()] + self.z_positions = [(float(zp[0].strip()), float(zp[1].strip())) + for zp in z_positions] + except: + raise config.error("Unable to parse z_positions in %s" % ( + config.get_name())) + self.probe_helper = probe.ProbePointsHelper( + config, self, default_points=self.z_positions) + self.z_steppers = [] + # Register Z_TILT_ADJUST command + self.gcode = self.printer.lookup_object('gcode') + self.gcode.register_command( + 'Z_TILT_ADJUST', self.cmd_Z_TILT_ADJUST, + desc=self.cmd_Z_TILT_ADJUST_help) + def printer_state(self, state): + if state == 'connect': + self.handle_connect() + def handle_connect(self): + kin = self.printer.lookup_object('toolhead').get_kinematics() + try: + z_stepper = kin.get_steppers('Z')[0] + z_steppers = [z_stepper] + z_stepper.extras + except: + logging.exception("z_tilt stepper lookup") + raise self.printer.config_error( + "z_tilt requires multiple Z steppers") + if len(z_steppers) != len(self.z_positions): + raise self.printer.config_error( + "z_tilt z_positions needs exactly %d items" % (len(z_steppers),)) + self.z_steppers = z_steppers + cmd_Z_TILT_ADJUST_help = "Adjust the Z tilt" + def cmd_Z_TILT_ADJUST(self, params): + self.probe_helper.start_probe() + def get_position(self): + kin = self.printer.lookup_object('toolhead').get_kinematics() + return kin.get_position() + def finalize(self, z_offset, positions): + logging.info("Calculating bed tilt with: %s", positions) + params = { 'x_adjust': 0., 'y_adjust': 0., 'z_adjust': z_offset } + def adjusted_height(pos, params): + x, y, z = pos + return (z - x*params['x_adjust'] - y*params['y_adjust'] + - params['z_adjust']) + def errorfunc(params): + total_error = 0. + for pos in positions: + total_error += adjusted_height(pos, params)**2 + return total_error + new_params = mathutil.coordinate_descent( + params.keys(), params, errorfunc) + logging.info("Calculated bed tilt parameters: %s", new_params) + try: + self.adjust_steppers(new_params['x_adjust'], new_params['y_adjust'], + new_params['z_adjust'], z_offset) + except: + logging.exception("z_tilt adjust_steppers") + for s in self.z_steppers: + z.mcu_stepper.set_ignore_move(False) + raise + def adjust_steppers(self, x_adjust, y_adjust, z_adjust, z_offset): + toolhead = self.printer.lookup_object('toolhead') + curpos = toolhead.get_position() + speed = self.probe_helper.get_lift_speed() + # Find each stepper adjustment and disable all stepper movements + positions = [] + for s, (x, y) in zip(self.z_steppers, self.z_positions): + s.mcu_stepper.set_ignore_move(True) + stepper_offset = -(x*x_adjust + y*y_adjust) + positions.append((stepper_offset, s)) + # Report on movements + msg = "Making the following Z tilt adjustments:\n%s\nz_offset = %.6f" % ( + "\n".join(["%s = %.6f" % (s.name, so) for so, s in positions]), + z_adjust - z_offset) + logging.info(msg) + self.gcode.respond_info(msg) + # Move each z stepper (sorted from lowest to highest) until they match + positions.sort() + first_stepper_offset, first_stepper = positions[0] + z_low = curpos[2] - first_stepper_offset + for i in range(len(positions)-1): + stepper_offset, stepper = positions[i] + next_stepper_offset, next_stepper = positions[i+1] + stepper.mcu_stepper.set_ignore_move(False) + curpos[2] = z_low + next_stepper_offset + toolhead.move(curpos, speed) + toolhead.set_position(curpos) + # Z should now be level - do final cleanup + last_stepper_offset, last_stepper = positions[-1] + last_stepper.mcu_stepper.set_ignore_move(False) + curpos[2] -= z_adjust - z_offset + toolhead.set_position(curpos) + self.gcode.reset_last_position() + +def load_config(config): + return ZTilt(config) |