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probe: Move multi-sampling capability from ProbePointsHelper to Probe 

This changes the config file so that the configuration of
multi-samples is now done in the [probe] (and [bltouch]) section
instead of the various delta, bed_mesh, z_tilt, etc. config sections.

With this change, PROBE and PROBE_CALIBRATE commands now also utilize
multi-sampling.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2019-05-31 13:47:15 -04:00 committed by KevinOConnor
parent 5989f7a8a6
commit 2b8dca5dbf
7 changed files with 86 additions and 129 deletions
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9
config/example-delta.cfg
View File

@ -123,12 +123,3 @@ radius: 50
#horizontal_move_z: 5
# The height (in mm) that the head should be commanded to move to
# just prior to starting a probe operation. The default is 5.
#samples: 1
# The number of times to probe each point. The probed z-values will
# be averaged. The default is to probe 1 time.
#samples_result: average
# One can choose median or average between probes samples
# The default is average.
#sample_retract_dist: 2.0
# The distance (in mm) to retract between each sample if sampling
# more than once. The default is 2mm.

55
config/example-extras.cfg
View File

@ -30,6 +30,15 @@
# triggers. This parameter must be provided.
#speed: 5.0
# Speed (in mm/s) of the Z axis when probing. The default is 5mm/s.
#samples: 1
# The number of times to probe each point. The probed z-values will
# be averaged. The default is to probe 1 time.
#sample_retract_dist: 2.0
# The distance (in mm) to lift the toolhead between each sample (if
# sampling more than once). The default is 2mm.
#samples_result: average
# The calculation method when sampling more than once - either
# "median" or "average". The default is average.
#activate_gcode:
# A list of G-Code commands (one per line; subsequent lines
# indented) to execute prior to each probe attempt. This may be
@ -72,6 +81,9 @@
#y_offset:
#z_offset:
#speed:
#samples:
#sample_retract_dist:
#samples_result:
# See the "probe" section for information on these parameters.
@ -102,15 +114,6 @@
#horizontal_move_z: 5
# The height (in mm) that the head should be commanded to move to
# just prior to starting a probe operation. The default is 5.
#samples: 1
# The number of times to probe each point. The probed z-values
# will be averaged. The default is to probe 1 time.
#samples_result: average
# One can choose median or average between probes samples
# The default is average.
#sample_retract_dist: 2.0
# The distance (in mm) to retract between each sample if
# sampling more than once. Default is 2mm.
# Mesh Bed Leveling. One may define a [bed_mesh] config section
@ -147,15 +150,6 @@
#horizontal_move_z: 5
# The height (in mm) that the head should be commanded to move to
# just prior to starting a probe operation. The default is 5.
#samples: 1
# The number of times to probe each point. The probed z-values
# will be averaged. The default is to probe 1 time.
#samples_result: average
# One can choose median or average between probes samples
# The default is average.
#sample_retract_dist: 2.0
# The distance (in mm) to retract between each sample if
# sampling more than once. Default is 2mm.
#bed_radius:
# Defines the radius to probe for round beds. Note that the radius
# is relative to the nozzle's origin, if using a probe be sure to
@ -283,15 +277,6 @@
#horizontal_move_z: 5
# The height (in mm) that the head should be commanded to move to
# just prior to starting a probe operation. The default is 5.
#samples: 1
# The number of times to probe each point. The probed z-values
# will be averaged. The default is to probe 1 time.
#sample_retract_dist: 2.0
# The distance (in mm) to retract between each sample if
# sampling more than once. Default is 2mm.
#samples_result: median
# One can choose median or average between screw probes
# The default is average.
#screw_thread: CW-M3
# The type of screw used for bed level, M3, M4 or M5 and the
# direction of the knob used to level the bed, clockwise decrease
@ -325,15 +310,6 @@
#horizontal_move_z: 5
# The height (in mm) that the head should be commanded to move to
# just prior to starting a probe operation. The default is 5.
#samples: 1
# The number of times to probe each point. The probed z-values
# will be averaged. The default is to probe 1 time.
#samples_result: average
# One can choose median or average between probes samples
# The default is average.
#sample_retract_dist: 2.0
# The distance (in mm) to retract between each sample if
# sampling more than once. Default is 2mm.
# Moving gantry leveling using 4 independently controlled Z motors.
@ -374,13 +350,6 @@
#max_adjust: 4
# Saftey limit if an ajustment greater than this value is requested
# quad_gantry_level will abort.
#samples: 1
# Number of probe samples per point. The defaut is 1
#samples_result: average
# One can choose median or average between probes samples
# The default is average.
#sample_retract_dist: 2.0
# Distance in mm to retract the probe between samples. Default is 2.
# In a multi-extruder printer add an additional extruder section for

8
config/kit-voron2-250mm.cfg
View File

@ -158,6 +158,10 @@ x_offset: 0.0
y_offset: 25.0
z_offset: 0.00
speed: 2.0
samples: 4
# Number of times to probe a point
sample_retract_dist: 6.0
# How far to retract (in mm) from the probe point for multi-probe samples
[fan]
# Print cooling fan
@ -231,10 +235,6 @@ points:
# Probe points
speed: 200
horizontal_move_z: 6
samples: 4
# Number of times to probe a point
sample_retract_dist: 6.0
# How far to retract (in mm) from the probe point for multi-probe samples
[display]
# RepRapDiscount 128x64 Full Graphic Smart Controller

4
config/kit-zav3d-2019.cfg
View File

@ -123,12 +123,12 @@ x_offset: 39
y_offset: 11
z_offset: 0.9
pin_up_touch_mode_reports_triggered: false
samples: 2
sample_retract_dist: 3.0
[bed_mesh]
speed: 100
horizontal_move_z: 5
samples: 2
sample_retract_dist: 3.0
min_point: 30,30
max_point: 150,150
probe_count: 3,3

4
config/printer-tevo-flash-2018.cfg
View File

@ -103,6 +103,8 @@ control_pin: ar11
x_offset: 0
y_offset: 18
z_offset: 1.64
samples: 3
sample_retract_dist: 5
# The homing_override section modifies the default G28 behavior
[homing_override]
@ -117,8 +119,6 @@ gcode:
# Mesh Bed Leveling.
[bed_mesh]
samples: 3
sample_retract_dist: 5
min_point: 5,0
max_point: 230,210
probe_count: 9,9

129
klippy/extras/probe.py
View File

@ -29,6 +29,13 @@ class PrinterProbe:
else:
pconfig = config.getsection('printer')
self.z_position = pconfig.getfloat('minimum_z_position', 0.)
# Multi-sample support (for improved accuracy)
self.samples = config.getint('samples', 1, minval=1)
self.sample_retract_dist = config.getfloat(
'sample_retract_dist', 2., above=0.)
self.samples_result = config.getchoice('samples_result',
{'median': 0, 'average': 1},
default='average')
# Register z_virtual_endstop pin
self.printer.lookup_object('pins').register_chip('probe', self)
# Register PROBE/QUERY_PROBE commands
@ -49,9 +56,6 @@ class PrinterProbe:
return self.mcu_probe
def get_offsets(self):
return self.x_offset, self.y_offset, self.z_offset
cmd_PROBE_help = "Probe Z-height at current XY position"
def cmd_PROBE(self, params):
self._probe(self.speed)
def _probe(self, speed):
toolhead = self.printer.lookup_object('toolhead')
homing_state = homing.Homing(self.printer)
@ -71,6 +75,50 @@ class PrinterProbe:
self.gcode.respond_info("probe at %.3f,%.3f is z=%.6f" % (
pos[0], pos[1], pos[2]))
self.gcode.reset_last_position()
return pos
def _move(self, coord, speed):
toolhead = self.printer.lookup_object('toolhead')
curpos = toolhead.get_position()
for i in range(len(coord)):
if coord[i] is not None:
curpos[i] = coord[i]
try:
toolhead.move(curpos, speed)
except homing.EndstopError as e:
raise self.gcode.error(str(e))
def run_probe(self):
positions = []
for i in range(self.samples):
pos = self._probe(self.speed)
positions.append(pos)
if i < self.samples - 1:
# retract
liftpos = [None, None, pos[2] + self.sample_retract_dist]
self._move(liftpos, self.speed)
if self.samples_result == 1:
# Calculate Average
calculated_value = [sum([pos[i] for pos in positions]) /
self.samples for i in range(3)]
else:
# Calculate Median
sorted_z_positions = sorted([position[2]
for position in positions])
middle = self.samples // 2
if (self.samples & 1) == 1:
# odd number of samples
median = sorted_z_positions[middle]
else:
# even number of samples
median = (sorted_z_positions[middle] +
sorted_z_positions[middle - 1]) / 2
calculated_value = [positions[0][0],
positions[0][1],
median]
return calculated_value
cmd_PROBE_help = "Probe Z-height at current XY position"
def cmd_PROBE(self, params):
pos = self.run_probe()
self.gcode.respond_info("Result is z=%.6f" % (pos[2],))
cmd_QUERY_PROBE_help = "Return the status of the z-probe"
def cmd_QUERY_PROBE(self, params):
toolhead = self.printer.lookup_object('toolhead')
@ -104,10 +152,9 @@ class PrinterProbe:
# Move Z to start reading position
self._move(start_pos, speed)
# Probe
self._probe(speed)
pos = self._probe(speed)
# Get Z value, accumulate value to calculate average
# and save it to calculate standard deviation
pos = toolhead.get_position()
sum_reads += pos[2]
probes.append(pos[2])
# Move Z to start reading position
@ -135,16 +182,6 @@ class PrinterProbe:
"probe accuracy results: maximum %.6f, minimum %.6f, "
"average %.6f, median %.6f, standard deviation %.6f" % (
max_value, min_value, avg_value, median, sigma))
def _move(self, coord, speed):
toolhead = self.printer.lookup_object('toolhead')
curpos = toolhead.get_position()
for i in range(len(coord)):
if coord[i] is not None:
curpos[i] = coord[i]
try:
toolhead.move(curpos, speed)
except homing.EndstopError as e:
raise self.gcode.error(str(e))
def probe_calibrate_finalize(self, kin_pos):
if kin_pos is None:
return
@ -158,10 +195,8 @@ class PrinterProbe:
cmd_PROBE_CALIBRATE_help = "Calibrate the probe's z_offset"
def cmd_PROBE_CALIBRATE(self, params):
# Perform initial probe
self._probe(self.speed)
curpos = self.run_probe()
# Move away from the bed
toolhead = self.printer.lookup_object('toolhead')
curpos = toolhead.get_position()
self.probe_calibrate_z = curpos[2]
curpos[2] += 5.
self._move(curpos, self.speed)
@ -240,12 +275,6 @@ class ProbePointsHelper:
self.horizontal_move_z = config.getfloat('horizontal_move_z', 5.)
self.speed = self.lift_speed = config.getfloat('speed', 50., above=0.)
self.probe_offsets = (0., 0., 0.)
self.samples = config.getint('samples', 1, minval=1)
self.sample_retract_dist = config.getfloat(
'sample_retract_dist', 2., above=0.)
self.samples_result = config.getchoice('samples_result',
{'median': 0, 'average': 1},
default='average')
# Internal probing state
self.results = []
self.busy = self.manual_probe = False
@ -256,15 +285,10 @@ class ProbePointsHelper:
"Need at least %d probe points for %s" % (n, self.name))
def get_lift_speed(self):
return self.lift_speed
def _lift_z(self, z_pos, add=False, speed=None):
def _lift_z(self, z_pos, speed):
# Lift toolhead
curpos = self.toolhead.get_position()
if add:
curpos[2] += z_pos
else:
curpos[2] = z_pos
if speed is None:
speed = self.lift_speed
curpos[2] = z_pos
try:
self.toolhead.move(curpos, speed)
except homing.EndstopError as e:
@ -272,7 +296,7 @@ class ProbePointsHelper:
raise self.gcode.error(str(e))
def _move_next(self):
# Lift toolhead
self._lift_z(self.horizontal_move_z)
self._lift_z(self.horizontal_move_z, self.lift_speed)
# Check if done probing
if len(self.results) >= len(self.probe_points):
self.toolhead.get_last_move_time()
@ -293,38 +317,6 @@ class ProbePointsHelper:
if self.manual_probe:
manual_probe.ManualProbeHelper(self.printer, {},
self._manual_probe_finalize)
def _automatic_probe_point(self):
positions = []
for i in range(self.samples):
try:
self.gcode.run_script_from_command("PROBE")
except self.gcode.error as e:
self._finalize(False)
raise
positions.append(self.toolhead.get_position())
if i < self.samples - 1:
# retract
self._lift_z(self.sample_retract_dist, add=True)
if self.samples_result == 1:
# Calculate Average
calculated_value = [sum([pos[i] for pos in positions]) /
self.samples for i in range(3)]
else:
# Calculate Median
sorted_z_positions = sorted([position[2]
for position in positions])
middle = self.samples // 2
if (self.samples & 1) == 1:
# odd number of samples
median = sorted_z_positions[middle]
else:
# even number of samples
median = (sorted_z_positions[middle] +
sorted_z_positions[middle - 1]) / 2
calculated_value = [positions[0][0],
positions[0][1],
median]
self.results.append(calculated_value)
def start_probe(self, params):
# Lookup objects
self.toolhead = self.printer.lookup_object('toolhead')
@ -345,12 +337,17 @@ class ProbePointsHelper:
# Start probe
self.results = []
self.busy = True
self._lift_z(self.horizontal_move_z, speed=self.speed)
self._lift_z(self.horizontal_move_z, self.speed)
self._move_next()
if not self.manual_probe:
# Perform automatic probing
while self.busy:
self._automatic_probe_point()
try:
pos = probe.run_probe()
except self.gcode.error as e:
self._finalize(False)
raise
self.results.append(pos)
self._move_next()
def _manual_probe_finalize(self, kin_pos):
if kin_pos is None:

6
test/klippy/screws_tilt_adjust.cfg
View File

@ -56,6 +56,9 @@ max_temp: 130
sensor_pin: ar30
control_pin: ar32
z_offset: 1.15
samples: 3
sample_retract_dist: 2.
samples_result: median
[bed_mesh]
min_point: 10,10
@ -83,7 +86,4 @@ screw4: 10,190
screw4_name: read left screw
horizontal_move_z: 10.
speed: 50.
samples: 3
sample_retract_dist: 2.
samples_result: median
screw_thread: CW-M3