delta_calibrate: Support save/restore of delta_calibrate state
Support using SAVE_CONFIG to store the results of DELTA_CALIBRATE to the printer config file. Store the low level probe measurements in the config as well. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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Kevin O'Connor
KevinOConnor
parent
ed0882dc10
commit
929733f0a7
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@ -56,6 +56,17 @@ def get_stable_position(stepper_position, delta_params):
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for sd, ep, sp in zip(
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dp.stepdists, dp.abs_endstops, stepper_position)]
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# Load a stable position from a config entry
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def load_config_stable(config, option):
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spos = config.get(option)
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try:
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sa, sb, sc = map(float, spos.split(','))
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except:
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msg = "Unable to parse stable position '%s'" % (spos,)
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logging.exception(msg)
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raise config.error(msg)
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return sa, sb, sc
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######################################################################
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# Delta Calibrate class
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@ -76,11 +87,37 @@ class DeltaCalibrate:
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points.append((math.cos(r) * dist, math.sin(r) * dist))
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self.probe_helper = probe.ProbePointsHelper(
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config, self, default_points=points)
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# Restore probe stable positions
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self.last_probe_positions = []
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for i in range(999):
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height = config.getfloat("height%d" % (i,), None)
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if height is None:
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break
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height_pos = load_config_stable(config, "height%d_pos" % (i,))
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self.last_probe_positions.append((height, height_pos))
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# Register DELTA_CALIBRATE command
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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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def save_state(self, probe_positions, params):
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# Save main delta parameters
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configfile = self.printer.lookup_object('configfile')
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configfile.set('printer', 'delta_radius', "%.6f" % (params['radius']))
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for axis in 'abc':
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configfile.set('stepper_'+axis, 'angle',
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"%.6f" % (params['angle_'+axis],))
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configfile.set('stepper_'+axis, 'arm_length',
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"%.6f" % (params['arm_'+axis],))
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configfile.set('stepper_'+axis, 'position_endstop',
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"%.6f" % (params['endstop_'+axis],))
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# Save probe stable positions
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section = 'delta_calibrate'
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configfile.remove_section(section)
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for i, (z_offset, spos) in enumerate(probe_positions):
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configfile.set(section, "height%d" % (i,), z_offset)
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configfile.set(section, "height%d_pos" % (i,),
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"%d,%d,%d" % tuple(spos))
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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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self.gcode.run_script_from_command("G28")
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@ -89,43 +126,55 @@ class DeltaCalibrate:
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kin = self.printer.lookup_object('toolhead').get_kinematics()
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return [s.get_commanded_position() for s in kin.get_steppers()]
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def finalize(self, offsets, positions):
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# Convert positions into (z_offset, stable_position) pairs
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z_offset = offsets[2]
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kin = self.printer.lookup_object('toolhead').get_kinematics()
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delta_params = build_delta_params(kin.get_calibrate_params())
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probe_positions = [(z_offset, get_stable_position(p, delta_params))
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for p in positions]
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# Perform analysis
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self.calculate_params(probe_positions)
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def calculate_params(self, probe_positions):
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# Setup for coordinate descent analysis
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kin = self.printer.lookup_object('toolhead').get_kinematics()
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params = kin.get_calibrate_params()
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orig_delta_params = build_delta_params(params)
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stable_positions = [get_stable_position(p, orig_delta_params)
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for p in positions]
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logging.info("Calculating delta_calibrate with: %s\n"
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"Initial delta_calibrate parameters: %s",
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stable_positions, params)
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probe_positions, params)
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adj_params = ('radius', 'angle_a', 'angle_b',
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'endstop_a', 'endstop_b', 'endstop_c')
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# Perform coordinate descent
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def delta_errorfunc(params):
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delta_params = build_delta_params(params)
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total_error = 0.
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for stable_pos in stable_positions:
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for z_offset, stable_pos in probe_positions:
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x, y, z = get_position_from_stable(stable_pos, delta_params)
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total_error += (z - z_offset)**2
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return total_error
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new_params = mathutil.coordinate_descent(
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adj_params, params, delta_errorfunc)
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# Log and report results
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logging.info("Calculated delta_calibrate parameters: %s", new_params)
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new_delta_params = build_delta_params(new_params)
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for spos in stable_positions:
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logging.info("orig: %s new: %s",
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get_position_from_stable(spos, orig_delta_params),
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get_position_from_stable(spos, new_delta_params))
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for z_offset, spos in probe_positions:
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logging.info("height orig: %.6f new: %.6f goal: %.6f",
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get_position_from_stable(spos, orig_delta_params)[2],
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get_position_from_stable(spos, new_delta_params)[2],
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z_offset)
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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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"delta_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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"The SAVE_CONFIG command will update the printer config file\n"
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"with these parameters and restart the printer." % (
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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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# Store results for SAVE_CONFIG
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self.save_state(probe_positions, new_params)
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def load_config(config):
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return DeltaCalibrate(config)
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