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
|
# Printer Skew Correction
#
# This implementation is a port of Marlin's skew correction as
# implemented in planner.h, Copyright (C) Marlin Firmware
#
# https://github.com/MarlinFirmware/Marlin/tree/1.1.x/Marlin
#
# Copyright (C) 2019 Eric Callahan <arksine.code@gmail.com>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import math
def calc_skew_factor(ac, bd, ad):
side = math.sqrt(2*ac*ac + 2*bd*bd - 4*ad*ad) / 2.
return math.tan(math.pi/2 - math.acos(
(ac*ac - side*side - ad*ad) / (2*side*ad)))
class PrinterSkew:
def __init__(self, config):
self.printer = config.get_printer()
self.name = config.get_name()
self.current_profile_name = ""
self.toolhead = None
self.xy_factor = 0.
self.xz_factor = 0.
self.yz_factor = 0.
self.skew_profiles = {}
self._load_storage(config)
self.printer.register_event_handler("klippy:connect",
self._handle_connect)
self.next_transform = None
gcode = self.printer.lookup_object('gcode')
gcode.register_command('GET_CURRENT_SKEW', self.cmd_GET_CURRENT_SKEW,
desc=self.cmd_GET_CURRENT_SKEW_help)
gcode.register_command('CALC_MEASURED_SKEW',
self.cmd_CALC_MEASURED_SKEW,
desc=self.cmd_CALC_MEASURED_SKEW_help)
gcode.register_command('SET_SKEW', self.cmd_SET_SKEW,
desc=self.cmd_SET_SKEW_help)
gcode.register_command('SKEW_PROFILE', self.cmd_SKEW_PROFILE,
desc=self.cmd_SKEW_PROFILE_help)
def _handle_connect(self):
gcode_move = self.printer.lookup_object('gcode_move')
self.next_transform = gcode_move.set_move_transform(self, force=True)
def _load_storage(self, config):
stored_profs = config.get_prefix_sections(self.name)
# Remove primary skew_correction section, as it is not a stored profile
stored_profs = [s for s in stored_profs
if s.get_name() != self.name]
for profile in stored_profs:
name = profile.get_name().split(' ', 1)[1]
self.skew_profiles[name] = {
'xy_skew': profile.getfloat("xy_skew"),
'xz_skew': profile.getfloat("xz_skew"),
'yz_skew': profile.getfloat("yz_skew"),
}
def calc_skew(self, pos):
skewed_x = pos[0] - pos[1] * self.xy_factor \
- pos[2] * (self.xz_factor - (self.xy_factor * self.yz_factor))
skewed_y = pos[1] - pos[2] * self.yz_factor
return [skewed_x, skewed_y] + pos[2:]
def calc_unskew(self, pos):
skewed_x = pos[0] + pos[1] * self.xy_factor \
+ pos[2] * self.xz_factor
skewed_y = pos[1] + pos[2] * self.yz_factor
return [skewed_x, skewed_y] + pos[2:]
def get_position(self):
return self.calc_unskew(self.next_transform.get_position())
def move(self, newpos, speed):
corrected_pos = self.calc_skew(newpos)
self.next_transform.move(corrected_pos, speed)
def _update_skew(self, xy_factor, xz_factor, yz_factor):
self.xy_factor = xy_factor
self.xz_factor = xz_factor
self.yz_factor = yz_factor
gcode_move = self.printer.lookup_object('gcode_move')
gcode_move.reset_last_position()
cmd_GET_CURRENT_SKEW_help = "Report current printer skew"
def cmd_GET_CURRENT_SKEW(self, gcmd):
out = "Current Printer Skew:"
planes = ["XY", "XZ", "YZ"]
factors = [self.xy_factor, self.xz_factor, self.yz_factor]
for plane, fac in zip(planes, factors):
out += '\n' + plane
out += " Skew: %.6f radians, %.2f degrees" % (
fac, math.degrees(fac))
gcmd.respond_info(out)
cmd_CALC_MEASURED_SKEW_help = "Calculate skew from measured print"
def cmd_CALC_MEASURED_SKEW(self, gcmd):
ac = gcmd.get_float("AC", above=0.)
bd = gcmd.get_float("BD", above=0.)
ad = gcmd.get_float("AD", above=0.)
factor = calc_skew_factor(ac, bd, ad)
gcmd.respond_info("Calculated Skew: %.6f radians, %.2f degrees"
% (factor, math.degrees(factor)))
cmd_SET_SKEW_help = "Set skew based on lengths of measured object"
def cmd_SET_SKEW(self, gcmd):
if gcmd.get_int("CLEAR", 0):
self._update_skew(0., 0., 0.)
return
planes = ["XY", "XZ", "YZ"]
for plane in planes:
lengths = gcmd.get(plane, None)
if lengths is not None:
try:
lengths = lengths.strip().split(",", 2)
lengths = [float(l.strip()) for l in lengths]
if len(lengths) != 3:
raise Exception
except Exception:
raise gcmd.error(
"skew_correction: improperly formatted entry for "
"plane [%s]\n%s" % (plane, gcmd.get_commandline()))
factor = plane.lower() + '_factor'
setattr(self, factor, calc_skew_factor(*lengths))
cmd_SKEW_PROFILE_help = "Profile management for skew_correction"
def cmd_SKEW_PROFILE(self, gcmd):
if gcmd.get('LOAD', None) is not None:
name = gcmd.get('LOAD')
self.current_profile_name = name
prof = self.skew_profiles.get(name)
if prof is None:
gcmd.respond_info(
"skew_correction: Load failed, unknown profile [%s]"
% (name))
return
self._update_skew(prof['xy_skew'], prof['xz_skew'], prof['yz_skew'])
elif gcmd.get('SAVE', None) is not None:
name = gcmd.get('SAVE')
configfile = self.printer.lookup_object('configfile')
cfg_name = self.name + " " + name
configfile.set(cfg_name, 'xy_skew', self.xy_factor)
configfile.set(cfg_name, 'xz_skew', self.xz_factor)
configfile.set(cfg_name, 'yz_skew', self.yz_factor)
# Copy to local storage
self.skew_profiles[name] = {
'xy_skew': self.xy_factor,
'xz_skew': self.xz_factor,
'yz_skew': self.yz_factor
}
gcmd.respond_info(
"Skew Correction state has been saved to profile [%s]\n"
"for the current session. The SAVE_CONFIG command will\n"
"update the printer config file and restart the printer."
% (name))
elif gcmd.get('REMOVE', None) is not None:
name = gcmd.get('REMOVE')
if name in self.skew_profiles:
configfile = self.printer.lookup_object('configfile')
configfile.remove_section('skew_correction ' + name)
del self.skew_profiles[name]
gcmd.respond_info(
"Profile [%s] removed from storage for this session.\n"
"The SAVE_CONFIG command will update the printer\n"
"configuration and restart the printer" % (name))
else:
gcmd.respond_info(
"skew_correction: No profile named [%s] to remove"
% (name))
def get_status(self, eventtime):
return {
'current_profile_name': self.current_profile_name
}
def load_config(config):
return PrinterSkew(config)
|
