1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
|
# Helper script for manual z height probing
#
# Copyright (C) 2019 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import logging, bisect
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)
zconfig = config.getsection('stepper_z')
self.z_position_endstop = zconfig.getfloat('position_endstop', None,
note_valid=False)
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)
def manual_probe_finalize(self, kin_pos):
if kin_pos is not None:
self.gcode.respond_info("Z position is %.3f" % (kin_pos[2],))
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(
"stepper_z: position_endstop: %.3f\n"
"The SAVE_CONFIG command will update the printer config file\n"
"with the above and restart the printer." % (z_pos,))
configfile = self.printer.lookup_object('configfile')
configfile.set('stepper_z', '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(
"stepper_z: position_endstop: %.3f\n"
"The SAVE_CONFIG command will update the printer config file\n"
"with the above and restart the printer." % (new_calibrate))
configfile.set('stepper_z', 'position_endstop',
"%.3f" % (new_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.speed = gcmd.get_float("SPEED", 5.)
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_str = next_str = "??????"
if prev_pos >= 0:
prev_str = "%.3f" % (pp[prev_pos],)
if next_pos < len(pp):
next_str = "%.3f" % (pp[next_pos],)
# 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.
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.
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.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)
|
