probe: Allow probe parameters to be specified as g-code parameters
Add PROBE_SPEED, SAMPLES, SAMPLE_RETRACT_DIST, SAMPLES_TOLERANCE, SAMPLES_TOLERANCE_RETRIES, and SAMPLES_RESULT parameters to the PROBE command (and to commands that indirectly invoke a probe). Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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Kevin O'Connor
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@ -220,17 +220,26 @@ section is enabled:
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The following commands are available when a "probe" config section is
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enabled:
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- `PROBE`: Move the nozzle downwards until the probe triggers.
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- `PROBE [PROBE_SPEED=<mm/s>] [SAMPLES=<count>]
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[SAMPLE_RETRACT_DIST=<mm>] [SAMPLES_TOLERANCE=<mm>]
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[SAMPLES_TOLERANCE_RETRIES=<count>]
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[SAMPLES_RESULT=median|average]`: Move the nozzle downwards until
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the probe triggers. If any of the optional parameters are provided
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they override their equivalent setting in the probe config section
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(see
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[example-extras.cfg](https://github.com/KevinOConnor/klipper/tree/master/config/example-extras.cfg)
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for details).
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- `QUERY_PROBE`: Report the current status of the probe ("triggered"
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or "open").
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- `PROBE_ACCURACY [REPEAT=<times>] [SPEED=<speed mm/s>] [X=<x pos>]
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[Y=<y pos>] [Z=<z height>]`: Calculate the maximum, minimum, average,
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median and standard deviation. The default values are: REPEAT=10,
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SPEED=probe config speed, X=current X, Y=current Y and Z=10.
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- `PROBE_CALIBRATE [SPEED=<speed>]`: Run a helper script useful for
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calibrating the probe's z_offset. See the MANUAL_PROBE command for
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details on the parameters and the additional commands available
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while the tool is active.
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- `PROBE_CALIBRATE [SPEED=<speed>] [<probe_parameter>=<value>]`: Run a
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helper script useful for calibrating the probe's z_offset. See the
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PROBE command for details on the optional probe parameters. See the
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MANUAL_PROBE command for details on the SPEED parameter and the
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additional commands available while the tool is active.
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## BLTouch
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@ -246,12 +255,13 @@ See [Working with the BL-Touch](BLTouch.md) for more details.
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The following commands are available when the "delta_calibrate" config
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section is enabled:
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- `DELTA_CALIBRATE [METHOD=manual]`: This command will probe seven
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points on the bed and recommend updated endstop positions, tower
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angles, and radius. If METHOD=manual is specified then the manual
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probing tool is activated - see the MANUAL_PROBE command above for
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details on the additional commands available while this tool is
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active.
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- `DELTA_CALIBRATE [METHOD=manual] [<probe_parameter>=<value>]`: This
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command will probe seven points on the bed and recommend updated
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endstop positions, tower angles, and radius. See the PROBE command
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for details on the optional probe parameters. If METHOD=manual is
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specified then the manual probing tool is activated - see the
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MANUAL_PROBE command above for details on the additional commands
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available while this tool is active.
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- `DELTA_ANALYZE`: This command is used during enhanced delta
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calibration. See [Delta Calibrate](Delta_Calibrate.md) for details.
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@ -259,24 +269,26 @@ section is enabled:
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The following commands are available when the "bed_tilt" config
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section is enabled:
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- `BED_TILT_CALIBRATE [METHOD=manual]`: This command will probe the
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points specified in the config and then recommend updated x and y
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tilt adjustments. If METHOD=manual is specified then the manual
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probing tool is activated - see the MANUAL_PROBE command above for
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details on the additional commands available while this tool is
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active.
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- `BED_TILT_CALIBRATE [METHOD=manual] [<probe_parameter>=<value>]`:
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This command will probe the points specified in the config and then
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recommend updated x and y tilt adjustments. See the PROBE command
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for details on the optional probe parameters. If METHOD=manual is
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specified then the manual probing tool is activated - see the
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MANUAL_PROBE command above for details on the additional commands
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available while this tool is active.
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## Mesh Bed Leveling
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The following commands are available when the "bed_mesh" config
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section is enabled:
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- `BED_MESH_CALIBRATE [METHOD=manual]`: This command probes the bed
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using generated points specified by the parameters in the
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config. After probing, a mesh is generated and z-movement is
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adjusted according to the mesh. If METHOD=manual is specified then
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the manual probing tool is activated - see the MANUAL_PROBE command
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above for details on the additional commands available while this
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tool is active.
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- `BED_MESH_CALIBRATE [METHOD=manual] [<probe_parameter>=<value>]`:
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This command probes the bed using generated points specified by the
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parameters in the config. After probing, a mesh is generated and
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z-movement is adjusted according to the mesh. See the PROBE command
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for details on the optional probe parameters. If METHOD=manual is
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specified then the manual probing tool is activated - see the
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MANUAL_PROBE command above for details on the additional commands
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available while this tool is active.
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- `BED_MESH_OUTPUT`: This command outputs the current probed z values
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and current mesh values to the terminal.
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- `BED_MESH_MAP`: This command probes the bed in a similar fashion
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@ -311,19 +323,22 @@ section is enabled:
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The following commands are available when the "screws_tilt_adjust"
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config section is enabled:
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- `SCREWS_TILT_CALCULATE`: This command will invoke the bed screws
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adjustment tool. It will command the nozzle to different locations
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(as defined in the config file) probing the z height and calculate
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the number of knob turns to adjust the bed level.
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- `SCREWS_TILT_CALCULATE [<probe_parameter>=<value>]`: This command
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will invoke the bed screws adjustment tool. It will command the
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nozzle to different locations (as defined in the config file)
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probing the z height and calculate the number of knob turns to
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adjust the bed level. See the PROBE command for details on the
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optional probe parameters.
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IMPORTANT: You MUST always do a G28 before using this command.
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## Z Tilt
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The following commands are available when the "z_tilt" config section
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is enabled:
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- `Z_TILT_ADJUST`: This command will probe the points specified in the
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config and then make independent adjustments to each Z stepper to
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compensate for tilt.
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- `Z_TILT_ADJUST [<probe_parameter>=<value>]`: This command will probe
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the points specified in the config and then make independent
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adjustments to each Z stepper to compensate for tilt. See the PROBE
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command for details on the optional probe parameters.
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## Dual Carriages
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@ -30,14 +30,16 @@ class PrinterProbe:
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pconfig = config.getsection('printer')
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self.z_position = pconfig.getfloat('minimum_z_position', 0.)
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# Multi-sample support (for improved accuracy)
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self.samples = config.getint('samples', 1, minval=1)
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self.sample_count = config.getint('samples', 1, minval=1)
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self.sample_retract_dist = config.getfloat('sample_retract_dist', 2.,
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above=0.)
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atypes = {'median': 'median', 'average': 'average'}
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self.samples_result = config.getchoice('samples_result', atypes,
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'average')
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self.samples_tolerance = config.getfloat('samples_tolerance', 0.100)
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self.samples_retries = config.getint('samples_tolerance_retries', 0)
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self.samples_tolerance = config.getfloat('samples_tolerance', 0.100,
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minval=0.)
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self.samples_retries = config.getint('samples_tolerance_retries', 0,
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minval=0)
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# Register z_virtual_endstop pin
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self.printer.lookup_object('pins').register_chip('probe', self)
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# Register PROBE/QUERY_PROBE commands
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@ -98,17 +100,29 @@ class PrinterProbe:
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return z_sorted[middle]
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# even number of samples
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return self._calc_mean(z_sorted[middle-1:middle+1])
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def run_probe(self):
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def run_probe(self, params={}):
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speed = self.gcode.get_float(
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"PROBE_SPEED", params, self.speed, above=0.)
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sample_count = self.gcode.get_int(
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"SAMPLES", params, self.sample_count, minval=1)
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sample_retract_dist = self.gcode.get_float(
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"SAMPLE_RETRACT_DIST", params, self.sample_retract_dist, above=0.)
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samples_tolerance = self.gcode.get_float(
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"SAMPLES_TOLERANCE", params, self.samples_tolerance, minval=0.)
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samples_retries = self.gcode.get_int(
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"SAMPLES_TOLERANCE_RETRIES", params, self.samples_retries, minval=0)
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samples_result = self.gcode.get_str(
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"SAMPLES_RESULT", params, self.samples_result)
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retries = 0
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positions = []
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while len(positions) < self.samples:
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while len(positions) < sample_count:
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# Probe position
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pos = self._probe(self.speed)
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pos = self._probe(speed)
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positions.append(pos)
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# Check samples tolerance
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z_positions = [p[2] for p in positions]
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if max(z_positions) - min(z_positions) > self.samples_tolerance:
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if retries >= self.samples_retries:
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if max(z_positions) - min(z_positions) > samples_tolerance:
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if retries >= samples_retries:
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raise homing.CommandError(
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"Probe samples exceed samples_tolerance")
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self.gcode.respond_info(
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@ -116,16 +130,16 @@ class PrinterProbe:
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retries += 1
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positions = []
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# Retract
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if len(positions) < self.samples:
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liftpos = [None, None, pos[2] + self.sample_retract_dist]
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self._move(liftpos, self.speed)
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if len(positions) < sample_count:
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liftpos = [None, None, pos[2] + sample_retract_dist]
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self._move(liftpos, speed)
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# Calculate and return result
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if self.samples_result == 'median':
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if samples_result == 'median':
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return self._calc_median(positions)
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return self._calc_mean(positions)
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cmd_PROBE_help = "Probe Z-height at current XY position"
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def cmd_PROBE(self, params):
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pos = self.run_probe()
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pos = self.run_probe(params)
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self.gcode.respond_info("Result is z=%.6f" % (pos[2],))
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cmd_QUERY_PROBE_help = "Return the status of the z-probe"
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def cmd_QUERY_PROBE(self, params):
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@ -192,7 +206,7 @@ class PrinterProbe:
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def cmd_PROBE_CALIBRATE(self, params):
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manual_probe.verify_no_manual_probe(self.printer)
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# Perform initial probe
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curpos = self.run_probe()
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curpos = self.run_probe(params)
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# Move away from the bed
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self.probe_calibrate_z = curpos[2]
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curpos[2] += 5.
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@ -331,7 +345,7 @@ class ProbePointsHelper:
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done = self._move_next()
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if done:
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break
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pos = probe.run_probe()
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pos = probe.run_probe(params)
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self.results.append(pos)
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def _manual_probe_start(self):
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done = self._move_next()
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