probe: Add ability to multi-sample points to ProbePointsHelper

Signed-off-by:  Eric Callahan <arksine.code@gmail.com>

config/example-delta.cfg

@@ -129,3 +129,9 @@ radius: 50
 #   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.
+#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.

config/example-extras.cfg

@@ -69,6 +69,12 @@
 #   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.
+#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.
 
 
 # Mesh Bed Leveling. One may define a [bed_mesh] config section
@@ -82,6 +88,12 @@
 #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.
 #min_point:
 #   An X,Y point defining the minimum coordinate to probe on
 #   the bed. Note that this refers to the nozzle position,
@@ -150,7 +162,12 @@
 #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.
 
 # In a multi-extruder printer add an additional extruder section for
 # each additional extruder. The additional extruder sections should be

klippy/extras/bed_mesh.py

@@ -245,9 +245,15 @@ class BedMeshCalibrate:
         # create a 2-D array representing the probed z-positions.
         self.probed_z_table = [
             [0. for i in range(x_cnt)] for j in range(y_cnt)]
-        # Extract probed z-positions from probed positions and add
+        # Check for multi-sampled points
-        # them to organized list
+        z_table_len = x_cnt * y_cnt
-        for i, pos in enumerate(positions):
+        if len(positions) % z_table_len:
+            raise self.gcode.error(
+                ("bed_mesh: Invalid probe table length:\n"
+                 "Sampled table length: %d") % len(positions))
+        samples = len(positions) / z_table_len
+        # Populate the organized probed table
+        for i in range(z_table_len):
             y_position = i / x_cnt
             x_position = 0
             if y_position & 1 == 0:
@@ -256,8 +262,11 @@ class BedMeshCalibrate:
             else:
                 # Odd y count, x probed in the negative directon
                 x_position = (x_cnt - 1) - (i % x_cnt)
+            idx = i * samples
+            end = idx + samples
+            avg_z = sum(p[2] for p in positions[idx:end]) / samples
             self.probed_z_table[y_position][x_position] = \
-                pos[2] - z_offset
+                avg_z - z_offset
         if self.build_map:
             outdict = {'z_probe_offsets:': self.probed_z_table}
             self.gcode.respond(json.dumps(outdict))

klippy/extras/probe.py

@@ -158,6 +158,9 @@ class ProbePointsHelper:
         # Lookup probe object
         self.probe = None
         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.)
         manual_probe = config.getboolean('manual_probe', None)
         if manual_probe is None:
             manual_probe = not config.has_section('probe')
@@ -180,15 +183,26 @@ class ProbePointsHelper:
             return self.probe.last_home_position()
         else:
             return None
-    def lift_z(self, z_pos):
+    def lift_z(self, z_pos, add=False):
         # Lift toolhead
         curpos = self.toolhead.get_position()
-        curpos[2] = z_pos
+        if add:
+            curpos[2] += z_pos
+        else:
+            curpos[2] = z_pos
         try:
             self.toolhead.move(curpos, self.lift_speed)
         except homing.EndstopError as e:
             self.finalize(False)
             raise self.gcode.error(str(e))
+    def probe_point(self):
+        for i in range(self.samples):
+            self.gcode.run_script_from_command("PROBE")
+            self.toolhead.wait_moves()
+            self.results.append(self.callback.get_probed_position())
+            if i < self.samples - 1:
+                # retract
+                self.lift_z(self.sample_retract_dist, add=True)
     def start_probe(self):
         # Begin probing
         self.toolhead = self.printer.lookup_object('toolhead')
@@ -205,13 +219,13 @@ class ProbePointsHelper:
         if self.probe is not None:
             try:
                 while self.busy:
-                    self.gcode.run_script_from_command("PROBE")
+                    self.probe_point()
                     self.cmd_NEXT({})
             except:
                 self.finalize(False)
                 raise
     def move_next(self):
-        x, y = self.probe_points[len(self.results)]
+        x, y = self.probe_points[len(self.results)/self.samples]
         curpos = self.toolhead.get_position()
         curpos[0] = x
         curpos[1] = y
@@ -224,13 +238,14 @@ class ProbePointsHelper:
         self.gcode.reset_last_position()
     cmd_NEXT_help = "Move to the next XY position to probe"
     def cmd_NEXT(self, params):
-        # Record current position
+        if self.probe is None:
-        self.toolhead.wait_moves()
+            # Record current position for manual probe
-        self.results.append(self.callback.get_probed_position())
+            self.toolhead.wait_moves()
+            self.results.append(self.callback.get_probed_position())
         # Lift toolhead
         self.lift_z(self.horizontal_move_z)
         # Move to next position
-        if len(self.results) == len(self.probe_points):
+        if len(self.results) / self.samples == len(self.probe_points):
             self.toolhead.get_last_move_time()
             self.finalize(True)
             return