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bed_tilt: Remove special probe:z_virtual_endstop handling 

Remove the code to calculate and track the z_offset via
position_endstop updates.  It's simpler to always save and restore the
calculated z_adjust.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2018-09-26 13:38:35 -04:00 committed by KevinOConnor
parent 33887b8c39
commit 348a41c325
2 changed files with 12 additions and 29 deletions
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3
config/example-extras.cfg
View File

@ -48,6 +48,9 @@
#y_adjust: 0
# The amount to add to each move's Z height for each mm on the Y
# axis. The default is 0.
#z_adjust: 0
# The amount to add to the Z height when the nozzle is nominally at
# 0,0. The default is 0.
# The remaining parameters control a BED_TILT_CALIBRATE extended
# g-code command that may be used to calibrate appropriate x and y
# adjustment parameters.

38
klippy/extras/bed_tilt.py
View File

@ -43,11 +43,6 @@ class BedTiltCalibrate:
self.printer = config.get_printer()
self.bedtilt = bedtilt
self.probe_helper = probe.ProbePointsHelper(config, self.probe_finalize)
# Automatic probe:z_virtual_endstop XY detection
self.z_position_endstop = None
if config.has_section('stepper_z'):
zconfig = config.getsection('stepper_z')
self.z_position_endstop = zconfig.getfloat('position_endstop', None)
# Register BED_TILT_CALIBRATE command
self.gcode = self.printer.lookup_object('gcode')
self.gcode.register_command(
@ -58,12 +53,14 @@ class BedTiltCalibrate:
self.gcode.run_script_from_command("G28")
self.probe_helper.start_probe(params)
def probe_finalize(self, offsets, positions):
# Setup for coordinate descent analysis
z_offset = offsets[2]
logging.info("Calculating bed_tilt with: %s", positions)
params = { 'x_adjust': self.bedtilt.x_adjust,
'y_adjust': self.bedtilt.y_adjust,
'z_adjust': z_offset }
logging.info("Initial bed_tilt parameters: %s", params)
# Perform coordinate descent
def adjusted_height(pos, params):
x, y, z = pos
return (z - x*params['x_adjust'] - y*params['y_adjust']
@ -75,36 +72,19 @@ class BedTiltCalibrate:
return total_error
new_params = mathutil.coordinate_descent(
params.keys(), params, errorfunc)
logging.info("Calculated bed_tilt parameters: %s", new_params)
for pos in positions:
logging.info("orig: %s new: %s", adjusted_height(pos, params),
adjusted_height(pos, new_params))
# Update current bed_tilt calculations
z_diff = new_params['z_adjust'] - z_offset
bed_tilt = self.printer.lookup_object('bed_tilt')
bed_tilt.update_adjust(new_params['x_adjust'], new_params['y_adjust'],
z_diff)
self.gcode.reset_last_position()
# Report results back to user
if self.z_position_endstop is not None:
# Cartesian style robot
z_extra = ""
probe = self.printer.lookup_object('probe', None)
if probe is not None:
last_home_position = probe.last_home_position()
if last_home_position is not None:
# Using z_virtual_endstop
home_x, home_y = last_home_position[:2]
z_diff -= home_x * new_params['x_adjust']
z_diff -= home_y * new_params['y_adjust']
z_extra = " (when Z homing at %.3f,%.3f)" % (home_x, home_y)
z_adjust = "stepper_z position_endstop: %.6f%s\n" % (
self.z_position_endstop - z_diff, z_extra)
else:
# Delta (or other) style robot
z_adjust = "Add %.6f to endstop position\n" % (-z_diff,)
msg = "%sx_adjust: %.6f y_adjust: %.6f" % (
z_adjust, new_params['x_adjust'], new_params['y_adjust'])
# Log and report results
logging.info("Calculated bed_tilt parameters: %s", new_params)
for pos in positions:
logging.info("orig: %s new: %s", adjusted_height(pos, params),
adjusted_height(pos, new_params))
msg = "x_adjust: %.6f y_adjust: %.6f z_adjust: %.6f" % (
new_params['x_adjust'], new_params['y_adjust'], z_diff)
self.printer.set_rollover_info("bed_tilt", "bed_tilt: %s" % (msg,))
self.gcode.respond_info(
"%s\nThe above parameters have been applied to the current\n"