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# 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
# 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.)
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.
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.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)
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