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quad_gantry_level: Fixing logic to use probed Z values correctly (#1328) 

Signed-off-by: Maks Zolin <mzolin@vorondesign.com>
This commit is contained in:
Voron 2019-03-08 08:01:49 -08:00 committed by KevinOConnor
parent 47d51d8613
commit 975b0dbd84
1 changed files with 30 additions and 19 deletions
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49
klippy/extras/quad_gantry_level.py
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@ -1,6 +1,6 @@
# Mechanicaly conforms a moving gantry to the bed with 4 Z steppers
#
# Copyright (C) 2018 Maks Zolin <mzolin@mzbot.us>
# Copyright (C) 2018 Maks Zolin <mzolin@vorondesign.com>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import logging
@ -9,6 +9,7 @@ import probe
class QuadGantryLevel:
def __init__(self, config):
self.printer = config.get_printer()
self.horizontal_move_z = config.getfloat("horizontal_move_z", 5.0)
self.printer.register_event_handler("klippy:connect",
self.handle_connect)
self.probe_helper = probe.ProbePointsHelper(config, self.probe_finalize)
@ -42,12 +43,17 @@ class QuadGantryLevel:
def cmd_QUAD_GANTRY_LEVEL(self, params):
self.probe_helper.start_probe(params)
def probe_finalize(self, offsets, positions):
logging.info("quad_gantry_level Calculating gantry geometry with: %s",
positions)
p1 = [positions[0][0] + offsets[0],positions[0][2]]
p2 = [positions[1][0] + offsets[0],positions[1][2]]
p3 = [positions[2][0] + offsets[0],positions[2][2]]
p4 = [positions[3][0] + offsets[0],positions[3][2]]
# Mirror our perspective so the adjustments make sense
# from the perspective of the gantry
z_positions = [self.horizontal_move_z - p[2] for p in positions]
points_message = "Gantry-relative probe points:\n%s\n" % (
"\n".join(["z%s = %.6f" % (z_id, z_positions[z_id])
for z_id in range(len(z_positions))]))
self.gcode.respond_info(points_message)
p1 = [positions[0][0] + offsets[0],z_positions[0]]
p2 = [positions[1][0] + offsets[0],z_positions[1]]
p3 = [positions[2][0] + offsets[0],z_positions[2]]
p4 = [positions[3][0] + offsets[0],z_positions[3]]
f1 = self.linefit(p1,p4)
f2 = self.linefit(p2,p3)
logging.info("quad_gantry_level f1: %s, f2: %s" % (f1,f2))
@ -59,19 +65,22 @@ class QuadGantryLevel:
self.plot(f1,self.gantry_corners[1][0])]
b2 = [positions[1][1] + offsets[1],
self.plot(f2,self.gantry_corners[1][0])]
logging.info("quad_gantry_level a1: %s a2: %s b1: %s b2: %s\n" % (
a1,a2,b1,b2))
af = self.linefit(a1,a2)
bf = self.linefit(b1,b2)
logging.info("quad_gantry_level af: %s, bf: %s" % (af,bf))
z_adjust = [0,0,0,0]
z_adjust[0] = self.plot(af,self.gantry_corners[0][1])
z_adjust[1] = self.plot(af,self.gantry_corners[1][1])
z_adjust[2] = self.plot(bf,self.gantry_corners[1][1])
z_adjust[3] = self.plot(bf,self.gantry_corners[0][1])
z_avg = sum(z_adjust)/len(z_adjust)
for z_id in range(4):
z_adjust[z_id] = z_avg - z_adjust[z_id]
z_height = [0,0,0,0]
z_height[0] = self.plot(af,self.gantry_corners[0][1])
z_height[1] = self.plot(af,self.gantry_corners[1][1])
z_height[2] = self.plot(bf,self.gantry_corners[1][1])
z_height[3] = self.plot(bf,self.gantry_corners[0][1])
self.gcode.respond_info("Actuator Positions:\n z1: %0.6f\n z2: %0.6f\
\n z3: %0.6f\n z4: %0.6f\n" % (
z_height[0],z_height[1],z_height[2],z_height[3]))
z_ave = sum(z_height) / len(z_height)
self.gcode.respond_info("Average: %0.6f" % z_ave)
z_adjust = []
for z in z_height:
z_adjust.append(z_ave - z)
try:
self.adjust_steppers(z_adjust)
except:
@ -96,16 +105,18 @@ class QuadGantryLevel:
self.gcode.respond_info(msg)
toolhead = self.printer.lookup_object('toolhead')
cur_pos = toolhead.get_position()
speed = self.probe_helper.get_lift_speed() / 2
speed = self.probe_helper.get_lift_speed()
# Disable moves on all Z steppers
for s in self.z_steppers:
s.set_ignore_move(True)
for z_id in range(len(z_adjust)):
stepper = self.z_steppers[z_id]
stepper.set_ignore_move(False)
cur_pos[2] = cur_pos[2] - z_adjust[z_id]
cur_pos[2] = cur_pos[2] + z_adjust[z_id]
toolhead.move(cur_pos, speed)
toolhead.set_position(cur_pos)
stepper.set_ignore_move(True)
# Re-enable moves on all Z steppers
for s in self.z_steppers:
s.set_ignore_move(False)
self.gcode.reset_last_position()