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bed_tilt: Add support for automatic bed tilt move transformation 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2018-01-20 23:47:36 -05:00
parent 434341d074
commit 39d62556b1
3 changed files with 144 additions and 3 deletions
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35
config/example-extras.cfg
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@ -17,6 +17,41 @@
# command. The default is 0.
# Bed tilt compensation. One may define a [bed_tilt] config section to
# enable move transformations that account for a tilted bed.
#[bed_tilt]
#x_adjust: 0
# The amount to add to each move's Z height for each mm on the X
# axis. The default is 0.
#y_adjust: 0
# The amount to add to each move's Z height for each mm on the Y
# axis. 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.
#points:
# A newline separated list of X,Y points that should be probed
# during a BED_TILT_CALIBRATE command. The default is to not enable
# the command.
#speed: 50
# The speed (in mm/s) of non-probing moves during the
# calibration. The default is 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.
#probe_z_offset: 0
# The Z height (in mm) of the head when the probe triggers. The
# default is 0.
#manual_probe:
# If true, then BED_TILT_CALIBRATE will perform manual probing. If
# false, then a PROBE command will be run at each probe
# point. Manual probing is accomplished by manually jogging the Z
# position of the print head at each probe point and then issuing a
# NEXT extended g-code command to record the position at that
# point. The default is false if a [probe] config section is present
# and true otherwise.
# In a multi-extruder printer add an additional extruder section for
# each additional extruder. The additional extruder sections should be
# named "extruder1", "extruder2", "extruder3", and so on. See the

95
klippy/extras/bed_tilt.py Normal file
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@ -0,0 +1,95 @@
# Bed tilt compensation
#
# Copyright (C) 2018 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import logging
import probe
class BedTilt:
def __init__(self, config):
self.printer = config.get_printer()
self.x_adjust = config.getfloat('x_adjust', 0.)
self.y_adjust = config.getfloat('y_adjust', 0.)
if config.get('points', None) is not None:
BedTiltCalibrate(config, self)
self.toolhead = None
gcode = self.printer.lookup_object('gcode')
gcode.set_move_transform(self)
def printer_state(self, state):
if state == 'connect':
self.toolhead = self.printer.lookup_object('toolhead')
def get_position(self):
x, y, z, e = self.toolhead.get_position()
return [x, y, z - x*self.x_adjust - y*self.y_adjust, e]
def move(self, newpos, speed):
x, y, z, e = newpos
self.toolhead.move([x, y, z + x*self.x_adjust + y*self.y_adjust, e],
speed)
# Helper script to calibrate the bed tilt
class BedTiltCalibrate:
def __init__(self, config, bedtilt):
self.bedtilt = bedtilt
self.printer = config.get_printer()
points = config.get('points').split('\n')
try:
points = [line.split(',', 1) for line in points if line.strip()]
self.points = [(float(p[0].strip()), float(p[1].strip()))
for p in points]
except:
raise config.error("Unable to parse bed tilt points")
self.speed = config.getfloat('speed', 50., above=0.)
self.horizontal_move_z = config.getfloat('horizontal_move_z', 5.)
self.probe_z_offset = config.getfloat('probe_z_offset', 0.)
self.manual_probe = config.getboolean('manual_probe', None)
if self.manual_probe is None:
self.manual_probe = not config.has_section('probe')
self.gcode = self.printer.lookup_object('gcode')
self.gcode.register_command(
'BED_TILT_CALIBRATE', self.cmd_BED_TILT_CALIBRATE,
desc=self.cmd_BED_TILT_CALIBRATE_help)
cmd_BED_TILT_CALIBRATE_help = "Bed tilt calibration script"
def cmd_BED_TILT_CALIBRATE(self, params):
self.gcode.run_script("G28")
probe.ProbePointsHelper(
self.printer, self.points, self.horizontal_move_z,
self.speed, self.manual_probe, self)
def get_position(self):
kin = self.printer.lookup_object('toolhead').get_kinematics()
return kin.get_position()
def finalize(self, positions):
logging.debug("Got: %s", positions)
params = { 'x_adjust': self.bedtilt.x_adjust,
'y_adjust': self.bedtilt.y_adjust,
'z_adjust': self.probe_z_offset }
logging.debug("Params: %s", params)
def adjusted_height(pos, params):
x, y, z = pos
return (z + x*params['x_adjust'] + y*params['y_adjust']
- params['z_adjust'])
def errorfunc(params):
total_error = 0.
for pos in positions:
total_error += adjusted_height(pos, params)**2
return total_error
new_params = probe.coordinate_descent(params.keys(), params, errorfunc)
logging.debug("Got2: %s", new_params)
for pos in positions:
logging.debug("orig: %s new: %s",
adjusted_height(pos, params),
adjusted_height(pos, new_params))
z_warn = ""
z_diff = new_params['z_adjust'] - self.probe_z_offset
if abs(z_diff) > .010:
z_warn = "Note: Z offset was %.6f\n" % (z_diff,)
self.gcode.respond_info(
"%sx_adjust: %.6f y_adjust: %.6f\n"
"To use these parameters, update the printer config file with\n"
"the above and then issue a RESTART command" % (
z_warn, new_params['x_adjust'], new_params['y_adjust']))
def load_config(config):
if config.get_name() != 'bed_tilt':
raise config.error("Invalid bed_tilt config name")
return BedTilt(config)

17
klippy/gcode.py
View File

@ -45,6 +45,8 @@ class GCodeParser:
self.homing_add = [0.0, 0.0, 0.0, 0.0]
self.speed_factor = 1. / 60.
self.extrude_factor = 1.
self.move_transform = self.move_with_transform = None
self.position_with_transform = (lambda: [0., 0., 0., 0.])
# G-Code state
self.need_ack = False
self.toolhead = self.fan = self.extruder = None
@ -66,6 +68,13 @@ class GCodeParser:
self.base_gcode_handlers[cmd] = func
if desc is not None:
self.gcode_help[cmd] = desc
def set_move_transform(self, transform):
if self.move_transform is not None:
raise self.printer.config_error(
"G-Code move transform already specified")
self.move_transform = transform
self.move_with_transform = transform.move
self.position_with_transform = transform.get_position
def stats(self, eventtime):
return "gcodein=%d" % (self.bytes_read,)
def printer_state(self, state):
@ -84,6 +93,9 @@ class GCodeParser:
self.gcode_handlers = self.ready_gcode_handlers
# Lookup printer components
self.toolhead = self.printer.lookup_object('toolhead')
if self.move_transform is None:
self.move_with_transform = self.toolhead.move
self.position_with_transform = self.toolhead.get_position
extruders = extruder.get_printer_extruders(self.printer)
if extruders:
self.extruder = extruders[0]
@ -94,8 +106,7 @@ class GCodeParser:
if self.is_fileinput and self.fd_handle is None:
self.fd_handle = self.reactor.register_fd(self.fd, self.process_data)
def reset_last_position(self):
if self.toolhead is not None:
self.last_position = self.toolhead.get_position()
self.last_position = self.position_with_transform()
def motor_heater_off(self):
if self.toolhead is None:
return
@ -361,7 +372,7 @@ class GCodeParser:
except ValueError as e:
raise error("Unable to parse move '%s'" % (params['#original'],))
try:
self.toolhead.move(self.last_position, self.speed)
self.move_with_transform(self.last_position, self.speed)
except homing.EndstopError as e:
raise error(str(e))
def cmd_G4(self, params):