69 lines
3.2 KiB
Python
69 lines
3.2 KiB
Python
# Delta calibration support
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#
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# Copyright (C) 2017-2018 Kevin O'Connor <kevin@koconnor.net>
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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 math, logging
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import probe, mathutil
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class DeltaCalibrate:
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def __init__(self, config):
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self.printer = config.get_printer()
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if config.getsection('printer').get('kinematics') != 'delta':
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raise config.error("Delta calibrate is only for delta printers")
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# Calculate default probing points
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radius = config.getfloat('radius', above=0.)
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points = [(0., 0.)]
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scatter = [.95, .90, .85, .70, .75, .80]
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for i in range(6):
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r = math.radians(90. + 60. * i)
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dist = radius * scatter[i]
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points.append((math.cos(r) * dist, math.sin(r) * dist))
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self.probe_helper = probe.ProbePointsHelper(
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config, self, default_points=points)
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# Register DELTA_CALIBRATE command
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self.gcode = self.printer.lookup_object('gcode')
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self.gcode.register_command(
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'DELTA_CALIBRATE', self.cmd_DELTA_CALIBRATE,
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desc=self.cmd_DELTA_CALIBRATE_help)
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cmd_DELTA_CALIBRATE_help = "Delta calibration script"
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def cmd_DELTA_CALIBRATE(self, params):
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self.gcode.run_script_from_command("G28")
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self.probe_helper.start_probe()
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def get_probed_position(self):
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kin = self.printer.lookup_object('toolhead').get_kinematics()
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return kin.get_stable_position()
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def finalize(self, z_offset, positions):
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kin = self.printer.lookup_object('toolhead').get_kinematics()
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logging.info("Calculating delta_calibrate with: %s", positions)
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params = kin.get_calibrate_params()
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logging.info("Initial delta_calibrate parameters: %s", params)
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adj_params = ('endstop_a', 'endstop_b', 'endstop_c', 'radius',
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'angle_a', 'angle_b')
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def delta_errorfunc(params):
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total_error = 0.
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for x, y, z in kin.get_positions_from_stable(positions, params):
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total_error += (z - z_offset)**2
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return total_error
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new_params = mathutil.coordinate_descent(
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adj_params, params, delta_errorfunc)
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logging.info("Calculated delta_calibrate parameters: %s", new_params)
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old_positions = kin.get_positions_from_stable(positions, params)
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new_positions = kin.get_positions_from_stable(positions, new_params)
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for oldpos, newpos in zip(old_positions, new_positions):
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logging.info("orig: %s new: %s", oldpos, newpos)
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self.gcode.respond_info(
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"stepper_a: position_endstop: %.6f angle: %.6f\n"
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"stepper_b: position_endstop: %.6f angle: %.6f\n"
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"stepper_c: position_endstop: %.6f angle: %.6f\n"
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"delta_radius: %.6f\n"
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"To use these parameters, update the printer config file with\n"
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"the above and then issue a RESTART command" % (
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new_params['endstop_a'], new_params['angle_a'],
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new_params['endstop_b'], new_params['angle_b'],
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new_params['endstop_c'], new_params['angle_c'],
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new_params['radius']))
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def load_config(config):
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return DeltaCalibrate(config)
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