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# Delta calibration support
#
# Copyright (C) 2017-2018 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import math, logging
import probe, mathutil, kinematics.delta
class DeltaCalibrate:
def __init__(self, config):
self.printer = config.get_printer()
if config.getsection('printer').get('kinematics') != 'delta':
raise config.error("Delta calibrate is only for delta printers")
# Calculate default probing points
radius = config.getfloat('radius', above=0.)
points = [(0., 0.)]
scatter = [.95, .90, .85, .70, .75, .80]
for i in range(6):
r = math.radians(90. + 60. * i)
dist = radius * scatter[i]
points.append((math.cos(r) * dist, math.sin(r) * dist))
self.probe_helper = probe.ProbePointsHelper(
config, self, default_points=points)
# Register DELTA_CALIBRATE command
self.gcode = self.printer.lookup_object('gcode')
self.gcode.register_command(
'DELTA_CALIBRATE', self.cmd_DELTA_CALIBRATE,
desc=self.cmd_DELTA_CALIBRATE_help)
cmd_DELTA_CALIBRATE_help = "Delta calibration script"
def cmd_DELTA_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.get_stable_position()
def finalize(self, z_offset, positions):
kin = self.printer.lookup_object('toolhead').get_kinematics()
logging.info("Calculating delta_calibrate with: %s", positions)
params = kin.get_calibrate_params()
logging.info("Initial delta_calibrate parameters: %s", params)
adj_params = ('endstop_a', 'endstop_b', 'endstop_c', 'radius',
'angle_a', 'angle_b')
get_position_from_stable = kinematics.delta.get_position_from_stable
def delta_errorfunc(params):
total_error = 0.
for spos in positions:
x, y, z = get_position_from_stable(spos, params)
total_error += (z - z_offset)**2
return total_error
new_params = mathutil.coordinate_descent(
adj_params, params, delta_errorfunc)
logging.info("Calculated delta_calibrate parameters: %s", new_params)
for spos in positions:
logging.info("orig: %s new: %s",
get_position_from_stable(spos, params),
get_position_from_stable(spos, new_params))
self.gcode.respond_info(
"stepper_a: position_endstop: %.6f angle: %.6f\n"
"stepper_b: position_endstop: %.6f angle: %.6f\n"
"stepper_c: position_endstop: %.6f angle: %.6f\n"
"radius: %.6f\n"
"To use these parameters, update the printer config file with\n"
"the above and then issue a RESTART command" % (
new_params['endstop_a'], new_params['angle_a'],
new_params['endstop_b'], new_params['angle_b'],
new_params['endstop_c'], new_params['angle_c'],
new_params['radius']))
def load_config(config):
return DeltaCalibrate(config)
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