126 lines
5.5 KiB
Python
126 lines
5.5 KiB
Python
# Mechanicaly conforms a moving gantry to the bed with 4 Z steppers
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#
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# Copyright (C) 2018 Maks Zolin <mzolin@vorondesign.com>
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#
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# This file may be distributed under the terms of the GNU GPLv3 license.
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import logging
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import probe
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class QuadGantryLevel:
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def __init__(self, config):
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self.printer = config.get_printer()
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self.horizontal_move_z = config.getfloat("horizontal_move_z", 5.0)
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self.printer.register_event_handler("klippy:connect",
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self.handle_connect)
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self.probe_helper = probe.ProbePointsHelper(config, self.probe_finalize)
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gantry_corners = config.get('gantry_corners').split('\n')
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try:
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gantry_corners = [line.split(',', 1)
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for line in gantry_corners if line.strip()]
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self.gantry_corners = [(float(zp[0].strip()), float(zp[1].strip()))
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for zp in gantry_corners]
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except:
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raise config.error("Unable to parse gantry_corners in %s" % (
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config.get_name()))
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if len(self.gantry_corners) < 2:
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raise config.error(
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"quad_gantry_level requires at least two gantry_corners")
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self.z_steppers = []
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# Register QUAD_GANTRY_LEVEL command
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self.gcode = self.printer.lookup_object('gcode')
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self.gcode.register_command(
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'QUAD_GANTRY_LEVEL', self.cmd_QUAD_GANTRY_LEVEL,
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desc=self.cmd_QUAD_GANTRY_LEVEL_help)
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def handle_connect(self):
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kin = self.printer.lookup_object('toolhead').get_kinematics()
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z_steppers = kin.get_steppers('Z')
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if len(z_steppers) != 4:
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raise self.printer.config_error(
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"quad_gantry_level needs exactly 4 z steppers")
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self.z_steppers = z_steppers
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cmd_QUAD_GANTRY_LEVEL_help = (
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"Conform a moving, twistable gantry to the shape of a stationary bed")
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def cmd_QUAD_GANTRY_LEVEL(self, params):
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self.probe_helper.start_probe(params)
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def probe_finalize(self, offsets, positions):
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# Mirror our perspective so the adjustments make sense
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# from the perspective of the gantry
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z_positions = [self.horizontal_move_z - p[2] for p in positions]
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points_message = "Gantry-relative probe points:\n%s\n" % (
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"\n".join(["z%s = %.6f" % (z_id, z_positions[z_id])
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for z_id in range(len(z_positions))]))
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self.gcode.respond_info(points_message)
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p1 = [positions[0][0] + offsets[0],z_positions[0]]
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p2 = [positions[1][0] + offsets[0],z_positions[1]]
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p3 = [positions[2][0] + offsets[0],z_positions[2]]
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p4 = [positions[3][0] + offsets[0],z_positions[3]]
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f1 = self.linefit(p1,p4)
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f2 = self.linefit(p2,p3)
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logging.info("quad_gantry_level f1: %s, f2: %s" % (f1,f2))
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a1 = [positions[0][1] + offsets[1],
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self.plot(f1,self.gantry_corners[0][0])]
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a2 = [positions[1][1] + offsets[1],
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self.plot(f2,self.gantry_corners[0][0])]
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b1 = [positions[0][1] + offsets[1],
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self.plot(f1,self.gantry_corners[1][0])]
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b2 = [positions[1][1] + offsets[1],
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self.plot(f2,self.gantry_corners[1][0])]
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af = self.linefit(a1,a2)
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bf = self.linefit(b1,b2)
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logging.info("quad_gantry_level af: %s, bf: %s" % (af,bf))
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z_height = [0,0,0,0]
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z_height[0] = self.plot(af,self.gantry_corners[0][1])
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z_height[1] = self.plot(af,self.gantry_corners[1][1])
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z_height[2] = self.plot(bf,self.gantry_corners[1][1])
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z_height[3] = self.plot(bf,self.gantry_corners[0][1])
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self.gcode.respond_info("Actuator Positions:\n z1: %0.6f\n z2: %0.6f\
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\n z3: %0.6f\n z4: %0.6f\n" % (
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z_height[0],z_height[1],z_height[2],z_height[3]))
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z_ave = sum(z_height) / len(z_height)
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self.gcode.respond_info("Average: %0.6f" % z_ave)
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z_adjust = []
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for z in z_height:
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z_adjust.append(z_ave - z)
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try:
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self.adjust_steppers(z_adjust)
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except:
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logging.exception("quad_gantry_level adjust_steppers")
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for s in self.z_steppers:
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s.set_ignore_move(False)
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raise
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def linefit(self,p1,p2):
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if p1[1] == p2[1]:
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# Straight line
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return 0,p1[1]
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m = (p2[1] - p1[1])/(p2[0] - p1[0])
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b = p1[1] - m * p1[0]
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return m,b
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def plot(self,f,x):
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return f[0]*x + f[1]
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def adjust_steppers(self, z_adjust):
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msg = "Making the following gantry adjustments:\n%s\n" % (
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"\n".join(["%s = %.6f" % (
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self.z_steppers[z_id].get_name(), z_adjust[z_id]
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) for z_id in range(4)]))
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self.gcode.respond_info(msg)
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toolhead = self.printer.lookup_object('toolhead')
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cur_pos = toolhead.get_position()
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speed = self.probe_helper.get_lift_speed()
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# Disable moves on all Z steppers
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for s in self.z_steppers:
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s.set_ignore_move(True)
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for z_id in range(len(z_adjust)):
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stepper = self.z_steppers[z_id]
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stepper.set_ignore_move(False)
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cur_pos[2] = cur_pos[2] + z_adjust[z_id]
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toolhead.move(cur_pos, speed)
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toolhead.set_position(cur_pos)
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stepper.set_ignore_move(True)
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# Re-enable moves on all Z steppers
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for s in self.z_steppers:
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s.set_ignore_move(False)
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self.gcode.reset_last_position()
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def load_config(config):
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return QuadGantryLevel(config)
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