bed_tilt: Take into account the XY position used with z_virtual_endstop

If a z_virtual_endstop is in use, then record the last XY position
that is used when the Z is homed.  Use that XY position to report what
change is needed to the z position_endstop.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

klippy/extras/bed_tilt.py

@@ -44,6 +44,10 @@ class BedTiltCalibrate:
         self.speed = config.getfloat('speed', 50., above=0.)
         self.horizontal_move_z = config.getfloat('horizontal_move_z', 5.)
         self.probe_z_offset = config.getfloat('probe_z_offset', 0.)
+        self.z_position_endstop = None
+        if config.has_section('stepper_z'):
+            zconfig = config.getsection('stepper_z')
+            self.z_position_endstop = zconfig.getfloat('position_endstop', None)
         self.manual_probe = config.getboolean('manual_probe', None)
         if self.manual_probe is None:
             self.manual_probe = not config.has_section('probe')
@@ -81,15 +85,30 @@ class BedTiltCalibrate:
         for pos in positions:
             logging.info("orig: %s new: %s", adjusted_height(pos, params),
                          adjusted_height(pos, new_params))
-        z_warn = ""
         z_diff = new_params['z_adjust'] - self.probe_z_offset
-        if abs(z_diff) > .010:
-            z_warn = "Note: Z offset was %.6f\n" % (z_diff,)
+        if self.z_position_endstop is not None:
+            # Cartesian style robot
+            z_extra = ""
+            probe = self.printer.lookup_object('probe', None)
+            if probe is not None:
+                last_home_position = probe.last_home_position()
+                if last_home_position is not None:
+                    # Using z_virtual_endstop
+                    home_x, home_y = last_home_position[:2]
+                    z_diff -= home_x * new_params['x_adjust']
+                    z_diff -= home_y * new_params['y_adjust']
+                    z_extra = " (when Z homing at %.3f,%.3f)" % (home_x, home_y)
+            z_adjust = "stepper_z position_endstop: %.6f%s\n" % (
+                self.z_position_endstop - z_diff, z_extra)
+        else:
+            # Delta (or other) style robot
+            z_adjust = "Add %.6f to endstop position\n" % (-z_diff,)
+        msg = "%sx_adjust: %.6f y_adjust: %.6f" % (
+            z_adjust, new_params['x_adjust'], new_params['y_adjust'])
+        logging.info("bed_tilt_calibrate: %s", msg)
         self.gcode.respond_info(
-            "%sx_adjust: %.6f y_adjust: %.6f\n"
-            "To use these parameters, update the printer config file with\n"
-            "the above and then issue a RESTART command" % (
-                z_warn, new_params['x_adjust'], new_params['y_adjust']))
+            "%s\nTo use these parameters, update the printer config file with\n"
+            "the above and then issue a RESTART command" % (msg,))
 
 def load_config(config):
     return BedTilt(config)

klippy/extras/probe.py

@@ -34,6 +34,7 @@ class PrinterProbe:
             self.mcu_probe = ProbeEndstopWrapper(config, self.mcu_probe)
         # Create z_virtual_endstop pin
         ppins.register_chip('probe', self)
+        self.z_virtual_endstop = None
         # Register PROBE/QUERY_PROBE commands
         self.gcode = self.printer.lookup_object('gcode')
         self.gcode.register_command(
@@ -53,7 +54,13 @@ class PrinterProbe:
             raise pins.error("Probe virtual endstop only useful as endstop pin")
         if pin_params['invert'] or pin_params['pullup']:
             raise pins.error("Can not pullup/invert probe virtual endstop")
-        return self.mcu_probe
+        self.z_virtual_endstop = ProbeVirtualEndstop(
+            self.printer, self.mcu_probe)
+        return self.z_virtual_endstop
+    def last_home_position(self):
+        if self.z_virtual_endstop is None:
+            return None
+        return self.z_virtual_endstop.position
     cmd_PROBE_help = "Probe Z-height at current XY position"
     def cmd_PROBE(self, params):
         toolhead = self.printer.lookup_object('toolhead')
@@ -101,6 +108,26 @@ class ProbeEndstopWrapper:
         self.gcode.run_script(self.deactivate_gcode)
         self.mcu_endstop.home_finalize()
 
+# Wrapper that records the last XY position of a virtual endstop probe
+class ProbeVirtualEndstop:
+    def __init__(self, printer, mcu_endstop):
+        self.printer = printer
+        self.mcu_endstop = mcu_endstop
+        self.position = None
+        # Wrappers
+        self.get_mcu = self.mcu_endstop.get_mcu
+        self.add_stepper = self.mcu_endstop.add_stepper
+        self.get_steppers = self.mcu_endstop.get_steppers
+        self.home_start = self.mcu_endstop.home_start
+        self.home_wait = self.mcu_endstop.home_wait
+        self.query_endstop = self.mcu_endstop.query_endstop
+        self.query_endstop_wait = self.mcu_endstop.query_endstop_wait
+        self.home_prepare = self.mcu_endstop.home_prepare
+        self.TimeoutError = self.mcu_endstop.TimeoutError
+    def home_finalize(self):
+        self.position = self.printer.lookup_object('toolhead').get_position()
+        self.mcu_endstop.home_finalize()
+
 # Helper code that can probe a series of points and report the
 # position at each point.
 class ProbePointsHelper: