110 lines
4.9 KiB
Python
110 lines
4.9 KiB
Python
# Bed tilt compensation
|
|
#
|
|
# 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 BedTilt:
|
|
def __init__(self, config):
|
|
self.printer = config.get_printer()
|
|
self.x_adjust = config.getfloat('x_adjust', 0.)
|
|
self.y_adjust = config.getfloat('y_adjust', 0.)
|
|
self.z_adjust = 0.
|
|
if config.get('points', None) is not None:
|
|
BedTiltCalibrate(config, self)
|
|
self.toolhead = None
|
|
gcode = self.printer.lookup_object('gcode')
|
|
gcode.set_move_transform(self)
|
|
def printer_state(self, state):
|
|
if state == 'connect':
|
|
self.toolhead = self.printer.lookup_object('toolhead')
|
|
def get_position(self):
|
|
x, y, z, e = self.toolhead.get_position()
|
|
return [x, y, z - x*self.x_adjust - y*self.y_adjust - self.z_adjust, e]
|
|
def move(self, newpos, speed):
|
|
x, y, z, e = newpos
|
|
self.toolhead.move([x, y, z + x*self.x_adjust + y*self.y_adjust
|
|
+ self.z_adjust, e], speed)
|
|
|
|
# Helper script to calibrate the bed tilt
|
|
class BedTiltCalibrate:
|
|
def __init__(self, config, bedtilt):
|
|
self.printer = config.get_printer()
|
|
self.bedtilt = bedtilt
|
|
self.probe_helper = probe.ProbePointsHelper(config, self)
|
|
# Automatic probe:z_virtual_endstop XY detection
|
|
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)
|
|
# Register BED_TILT_CALIBRATE command
|
|
self.gcode = self.printer.lookup_object('gcode')
|
|
self.gcode.register_command(
|
|
'BED_TILT_CALIBRATE', self.cmd_BED_TILT_CALIBRATE,
|
|
desc=self.cmd_BED_TILT_CALIBRATE_help)
|
|
cmd_BED_TILT_CALIBRATE_help = "Bed tilt calibration script"
|
|
def cmd_BED_TILT_CALIBRATE(self, params):
|
|
self.gcode.run_script_from_command("G28")
|
|
self.probe_helper.start_probe()
|
|
def get_probed_position(self):
|
|
kin = self.printer.lookup_object('toolhead').get_kinematics()
|
|
return kin.calc_position()
|
|
def finalize(self, z_offset, positions):
|
|
logging.info("Calculating bed_tilt with: %s", positions)
|
|
params = { 'x_adjust': self.bedtilt.x_adjust,
|
|
'y_adjust': self.bedtilt.y_adjust,
|
|
'z_adjust': z_offset }
|
|
logging.info("Initial bed_tilt parameters: %s", params)
|
|
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)
|
|
for pos in positions:
|
|
logging.info("orig: %s new: %s", adjusted_height(pos, params),
|
|
adjusted_height(pos, new_params))
|
|
# Update current bed_tilt calculations
|
|
bed_tilt = self.printer.lookup_object('bed_tilt')
|
|
bed_tilt.x_adjust = new_params['x_adjust']
|
|
bed_tilt.y_adjust = new_params['y_adjust']
|
|
z_diff = new_params['z_adjust'] - z_offset
|
|
bed_tilt.z_adjust = z_diff
|
|
self.gcode.reset_last_position()
|
|
# Report results back to user
|
|
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'])
|
|
self.printer.set_rollover_info("bed_tilt", "bed_tilt: %s" % (msg,))
|
|
self.gcode.respond_info(
|
|
"%s\nThe above parameters have been applied to the current\n"
|
|
"session. Update the printer config file with the above to\n"
|
|
"use these settings in future sessions." % (msg,))
|
|
|
|
def load_config(config):
|
|
return BedTilt(config)
|