# Helper script for manual z height probing # # Copyright (C) 2019 Kevin O'Connor # # This file may be distributed under the terms of the GNU GPLv3 license. import bisect import logging # Helper to lookup the Z stepper config section def lookup_z_endstop_config(config): if config.has_section("stepper_z"): return config.getsection("stepper_z") elif config.has_section("carriage z"): return config.getsection("carriage z") return None class ManualProbe: def __init__(self, config): self.printer = config.get_printer() # Register commands self.gcode = self.printer.lookup_object("gcode") self.gcode_move = self.printer.load_object(config, "gcode_move") self.gcode.register_command( "MANUAL_PROBE", self.cmd_MANUAL_PROBE, desc=self.cmd_MANUAL_PROBE_help ) # Endstop value for cartesian printers with separate Z axis zconfig = lookup_z_endstop_config(config) if zconfig is not None: self.z_position_endstop = zconfig.getfloat( "position_endstop", None, note_valid=False ) self.z_endstop_config_name = zconfig.get_name() else: self.z_position_endstop = self.z_endstop_config_name = None # Endstop values for linear delta printers with vertical A,B,C towers a_tower_config = config.getsection("stepper_a") self.a_position_endstop = a_tower_config.getfloat( "position_endstop", None, note_valid=False ) b_tower_config = config.getsection("stepper_b") self.b_position_endstop = b_tower_config.getfloat( "position_endstop", None, note_valid=False ) c_tower_config = config.getsection("stepper_c") self.c_position_endstop = c_tower_config.getfloat( "position_endstop", None, note_valid=False ) # Conditionally register appropriate commands depending on printer # Cartestian printers with separate Z Axis if self.z_position_endstop is not None: self.gcode.register_command( "Z_ENDSTOP_CALIBRATE", self.cmd_Z_ENDSTOP_CALIBRATE, desc=self.cmd_Z_ENDSTOP_CALIBRATE_help, ) self.gcode.register_command( "Z_OFFSET_APPLY_ENDSTOP", self.cmd_Z_OFFSET_APPLY_ENDSTOP, desc=self.cmd_Z_OFFSET_APPLY_ENDSTOP_help, ) # Linear delta printers with A,B,C towers if "delta" == config.getsection("printer").get("kinematics"): self.gcode.register_command( "Z_OFFSET_APPLY_ENDSTOP", self.cmd_Z_OFFSET_APPLY_DELTA_ENDSTOPS, desc=self.cmd_Z_OFFSET_APPLY_ENDSTOP_help, ) self.reset_status() def manual_probe_finalize(self, kin_pos): if kin_pos is not None: self.gcode.respond_info("Z position is %.3f" % (kin_pos[2],)) def reset_status(self): self.status = { "is_active": False, "z_position": None, "z_position_lower": None, "z_position_upper": None, } def get_status(self, eventtime): return self.status cmd_MANUAL_PROBE_help = "Start manual probe helper script" def cmd_MANUAL_PROBE(self, gcmd): ManualProbeHelper(self.printer, gcmd, self.manual_probe_finalize) def z_endstop_finalize(self, kin_pos): if kin_pos is None: return z_pos = self.z_position_endstop - kin_pos[2] self.gcode.respond_info( "%s: position_endstop: %.3f\n" "The SAVE_CONFIG command will update the printer config file\n" "with the above and restart the printer." % ( self.z_endstop_config_name, z_pos, ) ) configfile = self.printer.lookup_object("configfile") configfile.set( self.z_endstop_config_name, "position_endstop", "%.3f" % (z_pos,) ) cmd_Z_ENDSTOP_CALIBRATE_help = "Calibrate a Z endstop" def cmd_Z_ENDSTOP_CALIBRATE(self, gcmd): ManualProbeHelper(self.printer, gcmd, self.z_endstop_finalize) def cmd_Z_OFFSET_APPLY_ENDSTOP(self, gcmd): offset = self.gcode_move.get_status()["homing_origin"].z configfile = self.printer.lookup_object("configfile") if offset == 0: self.gcode.respond_info("Nothing to do: Z Offset is 0") else: new_calibrate = self.z_position_endstop - offset self.gcode.respond_info( "%s: position_endstop: %.3f\n" "The SAVE_CONFIG command will update the printer config file\n" "with the above and restart the printer." % (self.z_endstop_config_name, new_calibrate) ) configfile.set( self.z_endstop_config_name, "position_endstop", "%.3f" % (new_calibrate,), ) def cmd_Z_OFFSET_APPLY_DELTA_ENDSTOPS(self, gcmd): offset = self.gcode_move.get_status()["homing_origin"].z configfile = self.printer.lookup_object("configfile") if offset == 0: self.gcode.respond_info("Nothing to do: Z Offset is 0") else: new_a_calibrate = self.a_position_endstop - offset new_b_calibrate = self.b_position_endstop - offset new_c_calibrate = self.c_position_endstop - offset self.gcode.respond_info( "stepper_a: position_endstop: %.3f\n" "stepper_b: position_endstop: %.3f\n" "stepper_c: position_endstop: %.3f\n" "The SAVE_CONFIG command will update the printer config file\n" "with the above and restart the printer." % (new_a_calibrate, new_b_calibrate, new_c_calibrate) ) configfile.set("stepper_a", "position_endstop", "%.3f" % (new_a_calibrate,)) configfile.set("stepper_b", "position_endstop", "%.3f" % (new_b_calibrate,)) configfile.set("stepper_c", "position_endstop", "%.3f" % (new_c_calibrate,)) cmd_Z_OFFSET_APPLY_ENDSTOP_help = "Adjust the z endstop_position" # Verify that a manual probe isn't already in progress def verify_no_manual_probe(printer): gcode = printer.lookup_object("gcode") try: gcode.register_command("ACCEPT", "dummy") except printer.config_error as e: raise gcode.error("Already in a manual Z probe. Use ABORT to abort it.") gcode.register_command("ACCEPT", None) Z_BOB_MINIMUM = 0.500 BISECT_MAX = 0.200 # Helper script to determine a Z height class ManualProbeHelper: def __init__(self, printer, gcmd, finalize_callback): self.printer = printer self.finalize_callback = finalize_callback self.gcode = self.printer.lookup_object("gcode") self.toolhead = self.printer.lookup_object("toolhead") self.manual_probe = self.printer.lookup_object("manual_probe") self.speed = gcmd.get_float("SPEED", 5.0) self.past_positions = [] self.last_toolhead_pos = self.last_kinematics_pos = None # Register commands verify_no_manual_probe(printer) self.gcode.register_command( "ACCEPT", self.cmd_ACCEPT, desc=self.cmd_ACCEPT_help ) self.gcode.register_command("NEXT", self.cmd_ACCEPT) self.gcode.register_command("ABORT", self.cmd_ABORT, desc=self.cmd_ABORT_help) self.gcode.register_command("TESTZ", self.cmd_TESTZ, desc=self.cmd_TESTZ_help) self.gcode.respond_info( "Starting manual Z probe. Use TESTZ to adjust position.\n" "Finish with ACCEPT or ABORT command." ) self.start_position = self.toolhead.get_position() self.report_z_status() def get_kinematics_pos(self): toolhead_pos = self.toolhead.get_position() if toolhead_pos == self.last_toolhead_pos: return self.last_kinematics_pos self.toolhead.flush_step_generation() kin = self.toolhead.get_kinematics() kin_spos = { s.get_name(): s.get_commanded_position() for s in kin.get_steppers() } kin_pos = kin.calc_position(kin_spos) self.last_toolhead_pos = toolhead_pos self.last_kinematics_pos = kin_pos return kin_pos def move_z(self, z_pos): curpos = self.toolhead.get_position() try: z_bob_pos = z_pos + Z_BOB_MINIMUM if curpos[2] < z_bob_pos: self.toolhead.manual_move([None, None, z_bob_pos], self.speed) self.toolhead.manual_move([None, None, z_pos], self.speed) except self.printer.command_error as e: self.finalize(False) raise def report_z_status(self, warn_no_change=False, prev_pos=None): # Get position kin_pos = self.get_kinematics_pos() z_pos = kin_pos[2] if warn_no_change and z_pos == prev_pos: self.gcode.respond_info( "WARNING: No change in position (reached stepper resolution)" ) # Find recent positions that were tested pp = self.past_positions next_pos = bisect.bisect_left(pp, z_pos) prev_pos = next_pos - 1 if next_pos < len(pp) and pp[next_pos] == z_pos: next_pos += 1 prev_pos_val = next_pos_val = None prev_str = next_str = "??????" if prev_pos >= 0: prev_pos_val = pp[prev_pos] prev_str = "%.3f" % (prev_pos_val,) if next_pos < len(pp): next_pos_val = pp[next_pos] next_str = "%.3f" % (next_pos_val,) self.manual_probe.status = { "is_active": True, "z_position": z_pos, "z_position_lower": prev_pos_val, "z_position_upper": next_pos_val, } # Find recent positions self.gcode.respond_info( "Z position: %s --> %.3f <-- %s" % (prev_str, z_pos, next_str) ) cmd_ACCEPT_help = "Accept the current Z position" def cmd_ACCEPT(self, gcmd): pos = self.toolhead.get_position() start_pos = self.start_position if pos[:2] != start_pos[:2] or pos[2] >= start_pos[2]: gcmd.respond_info( "Manual probe failed! Use TESTZ commands to position the\n" "nozzle prior to running ACCEPT." ) self.finalize(False) return self.finalize(True) cmd_ABORT_help = "Abort manual Z probing tool" def cmd_ABORT(self, gcmd): self.finalize(False) cmd_TESTZ_help = "Move to new Z height" def cmd_TESTZ(self, gcmd): # Store current position for later reference kin_pos = self.get_kinematics_pos() z_pos = kin_pos[2] pp = self.past_positions insert_pos = bisect.bisect_left(pp, z_pos) if insert_pos >= len(pp) or pp[insert_pos] != z_pos: pp.insert(insert_pos, z_pos) # Determine next position to move to req = gcmd.get("Z") if req in ("+", "++"): check_z = 9999999999999.9 if insert_pos < len(self.past_positions) - 1: check_z = self.past_positions[insert_pos + 1] if req == "+": check_z = (check_z + z_pos) / 2.0 next_z_pos = min(check_z, z_pos + BISECT_MAX) elif req in ("-", "--"): check_z = -9999999999999.9 if insert_pos > 0: check_z = self.past_positions[insert_pos - 1] if req == "-": check_z = (check_z + z_pos) / 2.0 next_z_pos = max(check_z, z_pos - BISECT_MAX) else: next_z_pos = z_pos + gcmd.get_float("Z") # Move to given position and report it self.move_z(next_z_pos) self.report_z_status(next_z_pos != z_pos, z_pos) def finalize(self, success): self.manual_probe.reset_status() self.gcode.register_command("ACCEPT", None) self.gcode.register_command("NEXT", None) self.gcode.register_command("ABORT", None) self.gcode.register_command("TESTZ", None) kin_pos = None if success: kin_pos = self.get_kinematics_pos() self.finalize_callback(kin_pos) def load_config(config): return ManualProbe(config)