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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 probe, mathutil
class BedTilt:
def __init__(self, config):
self.printer = config.get_printer()
self.x_adjust = config.getfloat('x_adjust', 0.)
self.y_adjust = config.getfloat('y_adjust', 0.)
self.z_adjust = config.getfloat('z_adjust', 0.)
if config.get('points', None) is not None:
BedTiltCalibrate(config, self)
self.toolhead = None
# Register move transform with g-code class
gcode = self.printer.lookup_object('gcode')
gcode.set_move_transform(self)
def printer_state(self, state):
if state == 'connect':
self.toolhead = self.printer.lookup_object('toolhead')
def get_position(self):
x, y, z, e = self.toolhead.get_position()
return [x, y, z - x*self.x_adjust - y*self.y_adjust - self.z_adjust, e]
def move(self, newpos, speed):
x, y, z, e = newpos
self.toolhead.move([x, y, z + x*self.x_adjust + y*self.y_adjust
+ self.z_adjust, e], 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
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)
# Automatic probe:z_virtual_endstop XY detection
self.z_position_endstop = None
if config.has_section('stepper_z'):
zconfig = config.getsection('stepper_z')
self.z_position_endstop = zconfig.getfloat('position_endstop', None)
# 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, params):
self.gcode.run_script_from_command("G28")
self.probe_helper.start_probe()
def get_probed_position(self):
kin = self.printer.lookup_object('toolhead').get_kinematics()
return kin.calc_position()
def finalize(self, offsets, positions):
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)
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)
for pos in positions:
logging.info("orig: %s new: %s", adjusted_height(pos, params),
adjusted_height(pos, new_params))
# Update current bed_tilt calculations
z_diff = new_params['z_adjust'] - z_offset
bed_tilt = self.printer.lookup_object('bed_tilt')
bed_tilt.update_adjust(new_params['x_adjust'], new_params['y_adjust'],
z_diff)
self.gcode.reset_last_position()
# Report results back to user
if self.z_position_endstop is not None:
# Cartesian style robot
z_extra = ""
probe = self.printer.lookup_object('probe', None)
if probe is not None:
last_home_position = probe.last_home_position()
if last_home_position is not None:
# Using z_virtual_endstop
home_x, home_y = last_home_position[:2]
z_diff -= home_x * new_params['x_adjust']
z_diff -= home_y * new_params['y_adjust']
z_extra = " (when Z homing at %.3f,%.3f)" % (home_x, home_y)
z_adjust = "stepper_z position_endstop: %.6f%s\n" % (
self.z_position_endstop - z_diff, z_extra)
else:
# Delta (or other) style robot
z_adjust = "Add %.6f to endstop position\n" % (-z_diff,)
msg = "%sx_adjust: %.6f y_adjust: %.6f" % (
z_adjust, new_params['x_adjust'], new_params['y_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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