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z_tilt: Take into account probe xy offset when calculating z_adjust 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2018-09-26 19:08:34 -04:00 committed by KevinOConnor
parent 19d18c2bc1
commit c3550158bb
1 changed files with 13 additions and 7 deletions
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20
klippy/extras/z_tilt.py
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@ -41,9 +41,11 @@ class ZTilt:
def cmd_Z_TILT_ADJUST(self, params): def cmd_Z_TILT_ADJUST(self, params):
self.probe_helper.start_probe(params) self.probe_helper.start_probe(params)
def probe_finalize(self, offsets, positions): def probe_finalize(self, offsets, positions):
# Setup for coordinate descent analysis
z_offset = offsets[2] z_offset = offsets[2]
logging.info("Calculating bed tilt with: %s", positions) logging.info("Calculating bed tilt with: %s", positions)
params = { 'x_adjust': 0., 'y_adjust': 0., 'z_adjust': z_offset } params = { 'x_adjust': 0., 'y_adjust': 0., 'z_adjust': z_offset }
# Perform coordinate descent
def adjusted_height(pos, params): def adjusted_height(pos, params):
x, y, z = pos x, y, z = pos
return (z - x*params['x_adjust'] - y*params['y_adjust'] return (z - x*params['x_adjust'] - y*params['y_adjust']
@ -55,16 +57,20 @@ class ZTilt:
return total_error return total_error
new_params = mathutil.coordinate_descent( new_params = mathutil.coordinate_descent(
params.keys(), params, errorfunc) params.keys(), params, errorfunc)
# Apply results
logging.info("Calculated bed tilt parameters: %s", new_params) logging.info("Calculated bed tilt parameters: %s", new_params)
x_adjust = new_params['x_adjust']
y_adjust = new_params['y_adjust']
z_adjust = (new_params['z_adjust'] - z_offset
- x_adjust * offsets[0] - y_adjust * offsets[1])
try: try:
self.adjust_steppers(new_params['x_adjust'], new_params['y_adjust'], self.adjust_steppers(x_adjust, y_adjust, z_adjust)
new_params['z_adjust'], z_offset)
except: except:
logging.exception("z_tilt adjust_steppers") logging.exception("z_tilt adjust_steppers")
for s in self.z_steppers: for s in self.z_steppers:
z.set_ignore_move(False) z.set_ignore_move(False)
raise raise
def adjust_steppers(self, x_adjust, y_adjust, z_adjust, z_offset): def adjust_steppers(self, x_adjust, y_adjust, z_adjust):
toolhead = self.printer.lookup_object('toolhead') toolhead = self.printer.lookup_object('toolhead')
curpos = toolhead.get_position() curpos = toolhead.get_position()
speed = self.probe_helper.get_lift_speed() speed = self.probe_helper.get_lift_speed()
@ -75,9 +81,9 @@ class ZTilt:
stepper_offset = -(x*x_adjust + y*y_adjust) stepper_offset = -(x*x_adjust + y*y_adjust)
positions.append((stepper_offset, s)) positions.append((stepper_offset, s))
# Report on movements # Report on movements
msg = "Making the following Z tilt adjustments:\n%s\nz_offset = %.6f" % ( stepstrs = ["%s = %.6f" % (s.get_name(), so) for so, s in positions]
"\n".join(["%s = %.6f" % (s.get_name(), so) for so, s in positions]), msg = "Making the following Z adjustments:\n%s\nz_adjust = %.6f" % (
z_adjust - z_offset) "\n".join(stepstrs), z_adjust)
logging.info(msg) logging.info(msg)
self.gcode.respond_info(msg) self.gcode.respond_info(msg)
# Move each z stepper (sorted from lowest to highest) until they match # Move each z stepper (sorted from lowest to highest) until they match
@ -94,7 +100,7 @@ class ZTilt:
# Z should now be level - do final cleanup # Z should now be level - do final cleanup
last_stepper_offset, last_stepper = positions[-1] last_stepper_offset, last_stepper = positions[-1]
last_stepper.set_ignore_move(False) last_stepper.set_ignore_move(False)
curpos[2] -= z_adjust - z_offset curpos[2] -= z_adjust
toolhead.set_position(curpos) toolhead.set_position(curpos)
self.gcode.reset_last_position() self.gcode.reset_last_position()