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# Bed tilt compensation
#
# 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 mathutil
from . import probe
class BedTilt:
def __init__(self, config):
self.printer = config.get_printer()
self.printer.register_event_handler("klippy:connect", self.handle_connect)
self.x_adjust = config.getfloat("x_adjust", 0.0)
self.y_adjust = config.getfloat("y_adjust", 0.0)
self.z_adjust = config.getfloat("z_adjust", 0.0)
if config.get("points", None) is not None:
BedTiltCalibrate(config, self)
self.toolhead = None
# Register move transform with g-code class
gcode_move = self.printer.load_object(config, "gcode_move")
gcode_move.set_move_transform(self)
def handle_connect(self):
self.toolhead = self.printer.lookup_object("toolhead")
def get_position(self):
pos = self.toolhead.get_position()
x, y, z = pos[:3]
z -= x * self.x_adjust + y * self.y_adjust + self.z_adjust
return [x, y, z] + pos[3:]
def move(self, newpos, speed):
x, y, z = newpos[:3]
z += x * self.x_adjust + y * self.y_adjust + self.z_adjust
self.toolhead.move([x, y, z] + newpos[3:], speed)
def update_adjust(self, x_adjust, y_adjust, z_adjust):
self.x_adjust = x_adjust
self.y_adjust = y_adjust
self.z_adjust = z_adjust
gcode_move = self.printer.lookup_object("gcode_move")
gcode_move.reset_last_position()
configfile = self.printer.lookup_object("configfile")
configfile.set("bed_tilt", "x_adjust", "%.6f" % (x_adjust,))
configfile.set("bed_tilt", "y_adjust", "%.6f" % (y_adjust,))
configfile.set("bed_tilt", "z_adjust", "%.6f" % (z_adjust,))
# Helper script to calibrate the bed tilt
class BedTiltCalibrate:
def __init__(self, config, bedtilt):
self.printer = config.get_printer()
self.bedtilt = bedtilt
self.probe_helper = probe.ProbePointsHelper(config, self.probe_finalize)
self.probe_helper.minimum_points(3)
# Register BED_TILT_CALIBRATE command
self.gcode = self.printer.lookup_object("gcode")
self.gcode.register_command(
"BED_TILT_CALIBRATE",
self.cmd_BED_TILT_CALIBRATE,
desc=self.cmd_BED_TILT_CALIBRATE_help,
)
cmd_BED_TILT_CALIBRATE_help = "Bed tilt calibration script"
def cmd_BED_TILT_CALIBRATE(self, 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": self.bedtilt.x_adjust,
"y_adjust": self.bedtilt.y_adjust,
"z_adjust": z_offset,
}
logging.info("Initial bed_tilt parameters: %s", params)
# 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"]
)
def errorfunc(params):
total_error = 0.0
for pos in positions:
total_error += adjusted_height(pos, params) ** 2
return total_error
new_params = mathutil.coordinate_descent(params.keys(), params, errorfunc)
# Update current bed_tilt calculations
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]
)
self.bedtilt.update_adjust(x_adjust, y_adjust, z_adjust)
# Log and report results
logging.info("Calculated bed_tilt parameters: %s", new_params)
for pos in positions:
logging.info(
"orig: %s new: %s",
adjusted_height(pos, params),
adjusted_height(pos, new_params),
)
msg = "x_adjust: %.6f y_adjust: %.6f z_adjust: %.6f" % (
x_adjust,
y_adjust,
z_adjust,
)
self.printer.set_rollover_info("bed_tilt", "bed_tilt: %s" % (msg,))
self.gcode.respond_info(
"%s\nThe above parameters have been applied to the current\n"
"session. The SAVE_CONFIG command will update the printer\n"
"config file and restart the printer." % (msg,)
)
def load_config(config):
return BedTilt(config)
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