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bed_mesh: implement BED_MESH_OFFSET 

The BED_MESH_OFFSET gcode can be used to apply X and/or Y offsets the the mesh lookup.  This allows printers with independent extruders to correct the Z adjustment when changing a tool.

Signed-off-by:  Eric Callahan <arksine.code@gmail.com>
This commit is contained in:
Eric Callahan 2021-06-03 14:16:43 -04:00 committed by KevinOConnor
parent 4dfe01a2cd
commit 3fcce4bb4b
1 changed files with 24 additions and 3 deletions
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27
klippy/extras/bed_mesh.py
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@ -93,6 +93,9 @@ class BedMesh:
self.gcode.register_command( self.gcode.register_command(
'BED_MESH_CLEAR', self.cmd_BED_MESH_CLEAR, 'BED_MESH_CLEAR', self.cmd_BED_MESH_CLEAR,
desc=self.cmd_BED_MESH_CLEAR_help) desc=self.cmd_BED_MESH_CLEAR_help)
self.gcode.register_command(
'BED_MESH_OFFSET', self.cmd_BED_MESH_OFFSET,
desc=self.cmd_BED_MESH_OFFSET_help)
# Register transform # Register transform
gcode_move = self.printer.load_object(config, 'gcode_move') gcode_move = self.printer.load_object(config, 'gcode_move')
gcode_move.set_move_transform(self) gcode_move.set_move_transform(self)
@ -230,9 +233,20 @@ class BedMesh:
gcmd.respond_raw("mesh_map_output " + json.dumps(outdict)) gcmd.respond_raw("mesh_map_output " + json.dumps(outdict))
else: else:
gcmd.respond_info("Bed has not been probed") gcmd.respond_info("Bed has not been probed")
cmd_BED_MESH_CLEAR_help = "Clear the Mesh so no z-adjusment is made" cmd_BED_MESH_CLEAR_help = "Clear the Mesh so no z-adjustment is made"
def cmd_BED_MESH_CLEAR(self, gcmd): def cmd_BED_MESH_CLEAR(self, gcmd):
self.set_mesh(None) self.set_mesh(None)
cmd_BED_MESH_OFFSET_help = "Add X/Y offsets to the mesh lookup"
def cmd_BED_MESH_OFFSET(self, gcmd):
if self.z_mesh is not None:
offsets = [None, None]
for i, axis in enumerate(['X', 'Y']):
offsets[i] = gcmd.get_float(axis, None)
self.z_mesh.set_mesh_offsets(offsets)
gcode_move = self.printer.lookup_object('gcode_move')
gcode_move.reset_last_position()
else:
gcmd.respond_info("No mesh loaded to offset")
class BedMeshCalibrate: class BedMeshCalibrate:
@ -767,6 +781,7 @@ class ZMesh:
self.probed_matrix = self.mesh_matrix = None self.probed_matrix = self.mesh_matrix = None
self.mesh_params = params self.mesh_params = params
self.avg_z = 0. self.avg_z = 0.
self.mesh_offsets = [0., 0.]
logging.debug('bed_mesh: probe/mesh parameters:') logging.debug('bed_mesh: probe/mesh parameters:')
for key, value in self.mesh_params.items(): for key, value in self.mesh_params.items():
logging.debug("%s : %s" % (key, value)) logging.debug("%s : %s" % (key, value))
@ -828,6 +843,8 @@ class ZMesh:
msg = "Mesh X,Y: %d,%d\n" % (self.mesh_x_count, self.mesh_y_count) msg = "Mesh X,Y: %d,%d\n" % (self.mesh_x_count, self.mesh_y_count)
if move_z is not None: if move_z is not None:
msg += "Search Height: %d\n" % (move_z) msg += "Search Height: %d\n" % (move_z)
msg += "Mesh Offsets: X=%.4f, Y=%.4f\n" % (
self.mesh_offsets[0], self.mesh_offsets[1])
msg += "Mesh Average: %.2f\n" % (self.avg_z) msg += "Mesh Average: %.2f\n" % (self.avg_z)
rng = self.get_z_range() rng = self.get_z_range()
msg += "Mesh Range: min=%.4f max=%.4f\n" % (rng[0], rng[1]) msg += "Mesh Range: min=%.4f max=%.4f\n" % (rng[0], rng[1])
@ -851,6 +868,10 @@ class ZMesh:
# z step distances # z step distances
self.avg_z = round(self.avg_z, 2) self.avg_z = round(self.avg_z, 2)
self.print_mesh(logging.debug) self.print_mesh(logging.debug)
def set_mesh_offsets(self, offsets):
for i, o in enumerate(offsets):
if o is not None:
self.mesh_offsets[i] = o
def get_x_coordinate(self, index): def get_x_coordinate(self, index):
return self.mesh_x_min + self.mesh_x_dist * index return self.mesh_x_min + self.mesh_x_dist * index
def get_y_coordinate(self, index): def get_y_coordinate(self, index):
@ -858,8 +879,8 @@ class ZMesh:
def calc_z(self, x, y): def calc_z(self, x, y):
if self.mesh_matrix is not None: if self.mesh_matrix is not None:
tbl = self.mesh_matrix tbl = self.mesh_matrix
tx, xidx = self._get_linear_index(x, 0) tx, xidx = self._get_linear_index(x + self.mesh_offsets[0], 0)
ty, yidx = self._get_linear_index(y, 1) ty, yidx = self._get_linear_index(y + self.mesh_offsets[1], 1)
z0 = lerp(tx, tbl[yidx][xidx], tbl[yidx][xidx+1]) z0 = lerp(tx, tbl[yidx][xidx], tbl[yidx][xidx+1])
z1 = lerp(tx, tbl[yidx+1][xidx], tbl[yidx+1][xidx+1]) z1 = lerp(tx, tbl[yidx+1][xidx], tbl[yidx+1][xidx+1])
return lerp(ty, z0, z1) return lerp(ty, z0, z1)