103 lines
4.5 KiB
Python
103 lines
4.5 KiB
Python
# Mechanical bed tilt calibration with multiple Z steppers
|
|
#
|
|
# Copyright (C) 2018 Kevin O'Connor <kevin@koconnor.net>
|
|
#
|
|
# This file may be distributed under the terms of the GNU GPLv3 license.
|
|
import logging
|
|
import probe, mathutil
|
|
|
|
class ZTilt:
|
|
def __init__(self, config):
|
|
self.printer = config.get_printer()
|
|
z_positions = config.get('z_positions').split('\n')
|
|
try:
|
|
z_positions = [line.split(',', 1)
|
|
for line in z_positions if line.strip()]
|
|
self.z_positions = [(float(zp[0].strip()), float(zp[1].strip()))
|
|
for zp in z_positions]
|
|
except:
|
|
raise config.error("Unable to parse z_positions in %s" % (
|
|
config.get_name()))
|
|
if len(z_positions) < 2:
|
|
raise config.error("z_tilt requires at least two z_positions")
|
|
self.probe_helper = probe.ProbePointsHelper(config, self.probe_finalize)
|
|
self.z_steppers = []
|
|
# Register Z_TILT_ADJUST command
|
|
self.gcode = self.printer.lookup_object('gcode')
|
|
self.gcode.register_command(
|
|
'Z_TILT_ADJUST', self.cmd_Z_TILT_ADJUST,
|
|
desc=self.cmd_Z_TILT_ADJUST_help)
|
|
def printer_state(self, state):
|
|
if state == 'connect':
|
|
self.handle_connect()
|
|
def handle_connect(self):
|
|
kin = self.printer.lookup_object('toolhead').get_kinematics()
|
|
z_steppers = kin.get_steppers('Z')
|
|
if len(z_steppers) != len(self.z_positions):
|
|
raise self.printer.config_error(
|
|
"z_tilt z_positions needs exactly %d items" % (len(z_steppers),))
|
|
self.z_steppers = z_steppers
|
|
cmd_Z_TILT_ADJUST_help = "Adjust the Z tilt"
|
|
def cmd_Z_TILT_ADJUST(self, params):
|
|
self.probe_helper.start_probe(params)
|
|
def probe_finalize(self, offsets, positions):
|
|
z_offset = offsets[2]
|
|
logging.info("Calculating bed tilt with: %s", positions)
|
|
params = { 'x_adjust': 0., 'y_adjust': 0., 'z_adjust': z_offset }
|
|
def adjusted_height(pos, params):
|
|
x, y, z = pos
|
|
return (z - x*params['x_adjust'] - y*params['y_adjust']
|
|
- params['z_adjust'])
|
|
def errorfunc(params):
|
|
total_error = 0.
|
|
for pos in positions:
|
|
total_error += adjusted_height(pos, params)**2
|
|
return total_error
|
|
new_params = mathutil.coordinate_descent(
|
|
params.keys(), params, errorfunc)
|
|
logging.info("Calculated bed tilt parameters: %s", new_params)
|
|
try:
|
|
self.adjust_steppers(new_params['x_adjust'], new_params['y_adjust'],
|
|
new_params['z_adjust'], z_offset)
|
|
except:
|
|
logging.exception("z_tilt adjust_steppers")
|
|
for s in self.z_steppers:
|
|
z.set_ignore_move(False)
|
|
raise
|
|
def adjust_steppers(self, x_adjust, y_adjust, z_adjust, z_offset):
|
|
toolhead = self.printer.lookup_object('toolhead')
|
|
curpos = toolhead.get_position()
|
|
speed = self.probe_helper.get_lift_speed()
|
|
# Find each stepper adjustment and disable all stepper movements
|
|
positions = []
|
|
for s, (x, y) in zip(self.z_steppers, self.z_positions):
|
|
s.set_ignore_move(True)
|
|
stepper_offset = -(x*x_adjust + y*y_adjust)
|
|
positions.append((stepper_offset, s))
|
|
# Report on movements
|
|
msg = "Making the following Z tilt adjustments:\n%s\nz_offset = %.6f" % (
|
|
"\n".join(["%s = %.6f" % (s.get_name(), so) for so, s in positions]),
|
|
z_adjust - z_offset)
|
|
logging.info(msg)
|
|
self.gcode.respond_info(msg)
|
|
# Move each z stepper (sorted from lowest to highest) until they match
|
|
positions.sort()
|
|
first_stepper_offset, first_stepper = positions[0]
|
|
z_low = curpos[2] - first_stepper_offset
|
|
for i in range(len(positions)-1):
|
|
stepper_offset, stepper = positions[i]
|
|
next_stepper_offset, next_stepper = positions[i+1]
|
|
stepper.set_ignore_move(False)
|
|
curpos[2] = z_low + next_stepper_offset
|
|
toolhead.move(curpos, speed)
|
|
toolhead.set_position(curpos)
|
|
# Z should now be level - do final cleanup
|
|
last_stepper_offset, last_stepper = positions[-1]
|
|
last_stepper.set_ignore_move(False)
|
|
curpos[2] -= z_adjust - z_offset
|
|
toolhead.set_position(curpos)
|
|
self.gcode.reset_last_position()
|
|
|
|
def load_config(config):
|
|
return ZTilt(config)
|