delta_calibrate: Add initial support for a DELTA_CALIBRATE command
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
parent
ce9db609ad
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434341d074
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@ -107,3 +107,28 @@ delta_radius: 174.75
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# axis towers. This parameter may also be calculated as:
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# delta_radius = smooth_rod_offset - effector_offset - carriage_offset
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# This parameter must be provided.
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# The delta_calibrate section enables a DELTA_CALIBRATE extended
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# g-code command that can calibrate the tower endstop positions and
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# angles.
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[delta_calibrate]
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radius: 50
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# Radius (in mm) of the area that may be probed. This is typically
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# the size of the printer bed. This parameter must be provided.
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#speed: 50
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# The speed (in mm/s) of non-probing moves during the
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# calibration. The default is 50.
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#horizontal_move_z: 5
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# The height (in mm) that the head should be commanded to move to
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# just prior to starting a probe operation. The default is 5.
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#probe_z_offset: 0
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# The Z height (in mm) of the head when the probe triggers. The
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# default is 0.
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#manual_probe:
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# If true, then DELTA_CALIBRATE will perform manual probing. If
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# false, then a PROBE command will be run at each probe
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# point. Manual probing is accomplished by manually jogging the Z
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# position of the print head at each probe point and then issuing a
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# NEXT extended g-code command to record the position at that
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# point. The default is false if a [probe] config section is present
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# and true otherwise.
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@ -24,10 +24,11 @@ class DeltaKinematics:
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default_position=stepper_a.position_endstop)
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self.steppers = [stepper_a, stepper_b, stepper_c]
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self.need_motor_enable = self.need_home = True
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radius = config.getfloat('delta_radius', above=0.)
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self.radius = radius = config.getfloat('delta_radius', above=0.)
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arm_length_a = stepper_configs[0].getfloat('arm_length', above=radius)
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arm_lengths = [sconfig.getfloat('arm_length', arm_length_a, above=radius)
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for sconfig in stepper_configs]
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self.arm_lengths = arm_lengths = [
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sconfig.getfloat('arm_length', arm_length_a, above=radius)
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for sconfig in stepper_configs]
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self.arm2 = [arm**2 for arm in arm_lengths]
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self.endstops = [s.position_endstop + math.sqrt(arm2 - radius**2)
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for s, arm2 in zip(self.steppers, self.arm2)]
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@ -48,11 +49,12 @@ class DeltaKinematics:
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for s in self.steppers:
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s.set_max_jerk(max_halt_velocity, self.max_accel)
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# Determine tower locations in cartesian space
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angles = [sconfig.getfloat('angle', angle)
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for sconfig, angle in zip(stepper_configs, [210., 330., 90.])]
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self.angles = [sconfig.getfloat('angle', angle)
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for sconfig, angle in zip(stepper_configs,
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[210., 330., 90.])]
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self.towers = [(math.cos(math.radians(angle)) * radius,
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math.sin(math.radians(angle)) * radius)
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for angle in angles]
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for angle in self.angles]
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# Find the point where an XY move could result in excessive
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# tower movement
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half_min_step_dist = min([s.step_dist for s in self.steppers]) * .5
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@ -77,30 +79,7 @@ class DeltaKinematics:
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- (self.towers[i][1] - coord[1])**2) + coord[2]
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for i in StepList]
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def _actuator_to_cartesian(self, pos):
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# Find nozzle position using trilateration (see wikipedia)
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carriage1 = list(self.towers[0]) + [pos[0]]
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carriage2 = list(self.towers[1]) + [pos[1]]
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carriage3 = list(self.towers[2]) + [pos[2]]
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s21 = matrix_sub(carriage2, carriage1)
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s31 = matrix_sub(carriage3, carriage1)
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d = math.sqrt(matrix_magsq(s21))
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ex = matrix_mul(s21, 1. / d)
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i = matrix_dot(ex, s31)
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vect_ey = matrix_sub(s31, matrix_mul(ex, i))
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ey = matrix_mul(vect_ey, 1. / math.sqrt(matrix_magsq(vect_ey)))
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ez = matrix_cross(ex, ey)
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j = matrix_dot(ey, s31)
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x = (self.arm2[0] - self.arm2[1] + d**2) / (2. * d)
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y = (self.arm2[0] - self.arm2[2] - x**2 + (x-i)**2 + j**2) / (2. * j)
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z = -math.sqrt(self.arm2[0] - x**2 - y**2)
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ex_x = matrix_mul(ex, x)
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ey_y = matrix_mul(ey, y)
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ez_z = matrix_mul(ez, z)
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return matrix_add(carriage1, matrix_add(ex_x, matrix_add(ey_y, ez_z)))
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return actuator_to_cartesian(self.towers, self.arm2, pos)
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def get_position(self):
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spos = [s.mcu_stepper.get_commanded_position() for s in self.steppers]
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return self._actuator_to_cartesian(spos)
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@ -225,6 +204,21 @@ class DeltaKinematics:
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if decel_d:
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step_delta(move_time, decel_d, cruise_v, -accel,
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vt_startz, vt_startxy_d, vt_arm_d, movez_r)
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# Helper functions for DELTA_CALIBRATE script
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def get_stable_position(self):
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return [int((ep - s.mcu_stepper.get_commanded_position())
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/ s.mcu_stepper.get_step_dist() + .5)
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* s.mcu_stepper.get_step_dist()
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for ep, s in zip(self.endstops, self.steppers)]
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def get_calibrate_params(self):
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return {
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'endstop_a': self.steppers[0].position_endstop,
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'endstop_b': self.steppers[1].position_endstop,
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'endstop_c': self.steppers[2].position_endstop,
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'angle_a': self.angles[0], 'angle_b': self.angles[1],
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'angle_c': self.angles[2], 'radius': self.radius,
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'arm_a': self.arm_lengths[0], 'arm_b': self.arm_lengths[1],
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'arm_c': self.arm_lengths[2] }
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######################################################################
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@ -250,3 +244,41 @@ def matrix_sub(m1, m2):
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def matrix_mul(m1, s):
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return [m1[0]*s, m1[1]*s, m1[2]*s]
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def actuator_to_cartesian(towers, arm2, pos):
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# Find nozzle position using trilateration (see wikipedia)
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carriage1 = list(towers[0]) + [pos[0]]
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carriage2 = list(towers[1]) + [pos[1]]
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carriage3 = list(towers[2]) + [pos[2]]
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s21 = matrix_sub(carriage2, carriage1)
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s31 = matrix_sub(carriage3, carriage1)
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d = math.sqrt(matrix_magsq(s21))
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ex = matrix_mul(s21, 1. / d)
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i = matrix_dot(ex, s31)
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vect_ey = matrix_sub(s31, matrix_mul(ex, i))
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ey = matrix_mul(vect_ey, 1. / math.sqrt(matrix_magsq(vect_ey)))
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ez = matrix_cross(ex, ey)
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j = matrix_dot(ey, s31)
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x = (arm2[0] - arm2[1] + d**2) / (2. * d)
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y = (arm2[0] - arm2[2] - x**2 + (x-i)**2 + j**2) / (2. * j)
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z = -math.sqrt(arm2[0] - x**2 - y**2)
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ex_x = matrix_mul(ex, x)
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ey_y = matrix_mul(ey, y)
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ez_z = matrix_mul(ez, z)
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return matrix_add(carriage1, matrix_add(ex_x, matrix_add(ey_y, ez_z)))
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def get_position_from_stable(spos, params):
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angles = [params['angle_a'], params['angle_b'], params['angle_c']]
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radius = params['radius']
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radius2 = radius**2
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towers = [(math.cos(angle) * radius, math.sin(angle) * radius)
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for angle in map(math.radians, angles)]
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arm2 = [a**2 for a in [params['arm_a'], params['arm_b'], params['arm_c']]]
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endstops = [params['endstop_a'], params['endstop_b'], params['endstop_c']]
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pos = [es + math.sqrt(a2 - radius2) - p
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for es, a2, p in zip(endstops, arm2, spos)]
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return actuator_to_cartesian(towers, arm2, pos)
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@ -0,0 +1,76 @@
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# Delta calibration support
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#
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# Copyright (C) 2017-2018 Kevin O'Connor <kevin@koconnor.net>
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#
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# This file may be distributed under the terms of the GNU GPLv3 license.
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import math, logging
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import probe, delta
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class DeltaCalibrate:
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def __init__(self, config):
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self.printer = config.get_printer()
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if config.getsection('printer').get('kinematics') != 'delta':
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raise config.error("Delta calibrate is only for delta printers")
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self.radius = config.getfloat('radius', above=0.)
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self.speed = config.getfloat('speed', 50., above=0.)
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self.horizontal_move_z = config.getfloat('horizontal_move_z', 5.)
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self.probe_z_offset = config.getfloat('probe_z_offset', 0.)
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self.manual_probe = config.getboolean('manual_probe', None)
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if self.manual_probe is None:
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self.manual_probe = not config.has_section('probe')
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self.gcode = self.printer.lookup_object('gcode')
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self.gcode.register_command(
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'DELTA_CALIBRATE', self.cmd_DELTA_CALIBRATE,
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desc=self.cmd_DELTA_CALIBRATE_help)
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cmd_DELTA_CALIBRATE_help = "Delta calibration script"
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def cmd_DELTA_CALIBRATE(self, params):
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# Setup probe points
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points = [(0., 0.)]
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scatter = [.95, .90, .85, .70, .75, .80]
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for i in range(6):
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r = math.radians(90. + 60. * i)
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dist = self.radius * scatter[i]
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points.append((math.cos(r) * dist, math.sin(r) * dist))
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# Probe them
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self.gcode.run_script("G28")
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probe.ProbePointsHelper(self.printer, points, self.horizontal_move_z,
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self.speed, self.manual_probe, self)
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def get_position(self):
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kin = self.printer.lookup_object('toolhead').get_kinematics()
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return kin.get_stable_position()
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def finalize(self, positions):
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kin = self.printer.lookup_object('toolhead').get_kinematics()
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logging.debug("Got: %s", positions)
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params = kin.get_calibrate_params()
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logging.debug("Params: %s", params)
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adj_params = ('endstop_a', 'endstop_b', 'endstop_c', 'radius',
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'angle_a', 'angle_b')
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def delta_errorfunc(params):
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total_error = 0.
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for spos in positions:
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x, y, z = delta.get_position_from_stable(spos, params)
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total_error += (z - self.probe_z_offset)**2
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return total_error
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new_params = probe.coordinate_descent(
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adj_params, params, delta_errorfunc)
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logging.debug("Got2: %s", new_params)
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for spos in positions:
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logging.debug("orig: %s new: %s",
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delta.get_position_from_stable(spos, params),
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delta.get_position_from_stable(spos, new_params))
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self.gcode.respond_info(
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"stepper_a: position_endstop: %.6f angle: %.6f\n"
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"stepper_b: position_endstop: %.6f angle: %.6f\n"
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"stepper_c: position_endstop: %.6f angle: %.6f\n"
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"radius: %.6f\n"
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"To use these parameters, update the printer config file with\n"
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"the above and then issue a RESTART command" % (
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new_params['endstop_a'], new_params['angle_a'],
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new_params['endstop_b'], new_params['angle_b'],
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new_params['endstop_c'], new_params['angle_c'],
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new_params['radius']))
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def load_config(config):
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if config.get_name() != 'delta_calibrate':
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raise config.error("Invalid delta_calibrate config name")
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return DeltaCalibrate(config)
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@ -3,6 +3,7 @@
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# Copyright (C) 2017-2018 Kevin O'Connor <kevin@koconnor.net>
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#
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# This file may be distributed under the terms of the GNU GPLv3 license.
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import logging
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import homing
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class PrinterProbe:
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@ -48,6 +49,91 @@ class PrinterProbe:
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self.gcode.respond_info(
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"probe: %s" % (["open", "TRIGGERED"][not not res],))
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# Helper code that can probe a series of points and report the
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# position at each point.
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class ProbePointsHelper:
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def __init__(self, printer, probe_points, horizontal_move_z, speed,
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manual_probe, callback):
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self.printer = printer
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self.probe_points = probe_points
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self.horizontal_move_z = horizontal_move_z
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self.speed = speed
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self.callback = callback
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self.toolhead = self.printer.lookup_object('toolhead')
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self.results = []
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self.busy = True
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self.gcode = self.printer.lookup_object('gcode')
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self.gcode.register_command(
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'NEXT', self.cmd_NEXT, desc=self.cmd_NEXT_help)
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# Begin probing
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self.move_next()
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if not manual_probe:
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while self.busy:
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self.gcode.run_script("PROBE")
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self.cmd_NEXT({})
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def move_next(self):
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x, y = self.probe_points[len(self.results)]
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curpos = self.toolhead.get_position()
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curpos[0] = x
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curpos[1] = y
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curpos[2] = self.horizontal_move_z
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self.toolhead.move(curpos, self.speed)
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self.gcode.reset_last_position()
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cmd_NEXT_help = "Move to the next XY position to probe"
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def cmd_NEXT(self, params):
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# Record current position
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self.toolhead.wait_moves()
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self.results.append(self.callback.get_position())
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# Move to next position
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curpos = self.toolhead.get_position()
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curpos[2] = self.horizontal_move_z
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self.toolhead.move(curpos, self.speed)
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if len(self.results) == len(self.probe_points):
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self.toolhead.get_last_move_time()
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self.finalize(True)
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return
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self.move_next()
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def finalize(self, success):
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self.busy = False
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self.gcode.reset_last_position()
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self.gcode.register_command('NEXT', None)
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if success:
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self.callback.finalize(self.results)
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# Helper code that implements coordinate descent
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def coordinate_descent(adj_params, params, error_func):
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# Define potential changes
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params = dict(params)
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dp = {param_name: 1. for param_name in adj_params}
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# Calculate the error
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best_err = error_func(params)
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threshold = 0.00001
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rounds = 0
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while sum(dp.values()) > threshold and rounds < 10000:
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rounds += 1
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for param_name in adj_params:
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orig = params[param_name]
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params[param_name] = orig + dp[param_name]
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err = error_func(params)
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if err < best_err:
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# There was some improvement
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best_err = err
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dp[param_name] *= 1.1
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continue
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params[param_name] = orig - dp[param_name]
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err = error_func(params)
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if err < best_err:
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# There was some improvement
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best_err = err
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dp[param_name] *= 1.1
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continue
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params[param_name] = orig
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dp[param_name] *= 0.9
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logging.debug("best_err: %s rounds: %d", best_err, rounds)
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return params
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def load_config(config):
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if config.get_name() != 'probe':
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raise config.error("Invalid probe config name")
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