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probe: Move multi-sampling capability from ProbePointsHelper to Probe
This changes the config file so that the configuration of multi-samples is now done in the [probe] (and [bltouch]) section instead of the various delta, bed_mesh, z_tilt, etc. config sections. With this change, PROBE and PROBE_CALIBRATE commands now also utilize multi-sampling. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
KevinOConnor
parent
5989f7a8a6
commit
2b8dca5dbf
7 changed files with 86 additions and 129 deletions
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@ -29,6 +29,13 @@ class PrinterProbe:
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else:
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pconfig = config.getsection('printer')
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self.z_position = pconfig.getfloat('minimum_z_position', 0.)
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# Multi-sample support (for improved accuracy)
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self.samples = config.getint('samples', 1, minval=1)
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self.sample_retract_dist = config.getfloat(
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'sample_retract_dist', 2., above=0.)
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self.samples_result = config.getchoice('samples_result',
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{'median': 0, 'average': 1},
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default='average')
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# Register z_virtual_endstop pin
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self.printer.lookup_object('pins').register_chip('probe', self)
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# Register PROBE/QUERY_PROBE commands
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@ -49,9 +56,6 @@ class PrinterProbe:
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return self.mcu_probe
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def get_offsets(self):
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return self.x_offset, self.y_offset, self.z_offset
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cmd_PROBE_help = "Probe Z-height at current XY position"
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def cmd_PROBE(self, params):
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self._probe(self.speed)
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def _probe(self, speed):
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toolhead = self.printer.lookup_object('toolhead')
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homing_state = homing.Homing(self.printer)
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@ -71,6 +75,50 @@ class PrinterProbe:
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self.gcode.respond_info("probe at %.3f,%.3f is z=%.6f" % (
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pos[0], pos[1], pos[2]))
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self.gcode.reset_last_position()
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return pos
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def _move(self, coord, speed):
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toolhead = self.printer.lookup_object('toolhead')
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curpos = toolhead.get_position()
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for i in range(len(coord)):
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if coord[i] is not None:
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curpos[i] = coord[i]
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try:
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toolhead.move(curpos, speed)
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except homing.EndstopError as e:
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raise self.gcode.error(str(e))
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def run_probe(self):
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positions = []
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for i in range(self.samples):
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pos = self._probe(self.speed)
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positions.append(pos)
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if i < self.samples - 1:
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# retract
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liftpos = [None, None, pos[2] + self.sample_retract_dist]
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self._move(liftpos, self.speed)
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if self.samples_result == 1:
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# Calculate Average
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calculated_value = [sum([pos[i] for pos in positions]) /
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self.samples for i in range(3)]
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else:
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# Calculate Median
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sorted_z_positions = sorted([position[2]
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for position in positions])
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middle = self.samples // 2
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if (self.samples & 1) == 1:
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# odd number of samples
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median = sorted_z_positions[middle]
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else:
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# even number of samples
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median = (sorted_z_positions[middle] +
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sorted_z_positions[middle - 1]) / 2
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calculated_value = [positions[0][0],
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positions[0][1],
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median]
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return calculated_value
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cmd_PROBE_help = "Probe Z-height at current XY position"
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def cmd_PROBE(self, params):
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pos = self.run_probe()
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self.gcode.respond_info("Result is z=%.6f" % (pos[2],))
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cmd_QUERY_PROBE_help = "Return the status of the z-probe"
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def cmd_QUERY_PROBE(self, params):
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toolhead = self.printer.lookup_object('toolhead')
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@ -104,10 +152,9 @@ class PrinterProbe:
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# Move Z to start reading position
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self._move(start_pos, speed)
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# Probe
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self._probe(speed)
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pos = self._probe(speed)
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# Get Z value, accumulate value to calculate average
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# and save it to calculate standard deviation
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pos = toolhead.get_position()
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sum_reads += pos[2]
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probes.append(pos[2])
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# Move Z to start reading position
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@ -135,16 +182,6 @@ class PrinterProbe:
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"probe accuracy results: maximum %.6f, minimum %.6f, "
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"average %.6f, median %.6f, standard deviation %.6f" % (
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max_value, min_value, avg_value, median, sigma))
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def _move(self, coord, speed):
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toolhead = self.printer.lookup_object('toolhead')
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curpos = toolhead.get_position()
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for i in range(len(coord)):
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if coord[i] is not None:
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curpos[i] = coord[i]
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try:
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toolhead.move(curpos, speed)
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except homing.EndstopError as e:
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raise self.gcode.error(str(e))
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def probe_calibrate_finalize(self, kin_pos):
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if kin_pos is None:
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return
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@ -158,10 +195,8 @@ class PrinterProbe:
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cmd_PROBE_CALIBRATE_help = "Calibrate the probe's z_offset"
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def cmd_PROBE_CALIBRATE(self, params):
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# Perform initial probe
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self._probe(self.speed)
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curpos = self.run_probe()
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# Move away from the bed
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toolhead = self.printer.lookup_object('toolhead')
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curpos = toolhead.get_position()
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self.probe_calibrate_z = curpos[2]
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curpos[2] += 5.
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self._move(curpos, self.speed)
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@ -240,12 +275,6 @@ class ProbePointsHelper:
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self.horizontal_move_z = config.getfloat('horizontal_move_z', 5.)
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self.speed = self.lift_speed = config.getfloat('speed', 50., above=0.)
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self.probe_offsets = (0., 0., 0.)
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self.samples = config.getint('samples', 1, minval=1)
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self.sample_retract_dist = config.getfloat(
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'sample_retract_dist', 2., above=0.)
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self.samples_result = config.getchoice('samples_result',
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{'median': 0, 'average': 1},
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default='average')
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# Internal probing state
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self.results = []
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self.busy = self.manual_probe = False
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@ -256,15 +285,10 @@ class ProbePointsHelper:
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"Need at least %d probe points for %s" % (n, self.name))
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def get_lift_speed(self):
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return self.lift_speed
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def _lift_z(self, z_pos, add=False, speed=None):
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def _lift_z(self, z_pos, speed):
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# Lift toolhead
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curpos = self.toolhead.get_position()
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if add:
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curpos[2] += z_pos
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else:
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curpos[2] = z_pos
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if speed is None:
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speed = self.lift_speed
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curpos[2] = z_pos
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try:
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self.toolhead.move(curpos, speed)
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except homing.EndstopError as e:
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@ -272,7 +296,7 @@ class ProbePointsHelper:
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raise self.gcode.error(str(e))
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def _move_next(self):
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# Lift toolhead
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self._lift_z(self.horizontal_move_z)
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self._lift_z(self.horizontal_move_z, self.lift_speed)
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# Check if done probing
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if len(self.results) >= len(self.probe_points):
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self.toolhead.get_last_move_time()
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@ -293,38 +317,6 @@ class ProbePointsHelper:
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if self.manual_probe:
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manual_probe.ManualProbeHelper(self.printer, {},
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self._manual_probe_finalize)
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def _automatic_probe_point(self):
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positions = []
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for i in range(self.samples):
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try:
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self.gcode.run_script_from_command("PROBE")
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except self.gcode.error as e:
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self._finalize(False)
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raise
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positions.append(self.toolhead.get_position())
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if i < self.samples - 1:
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# retract
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self._lift_z(self.sample_retract_dist, add=True)
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if self.samples_result == 1:
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# Calculate Average
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calculated_value = [sum([pos[i] for pos in positions]) /
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self.samples for i in range(3)]
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else:
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# Calculate Median
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sorted_z_positions = sorted([position[2]
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for position in positions])
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middle = self.samples // 2
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if (self.samples & 1) == 1:
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# odd number of samples
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median = sorted_z_positions[middle]
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else:
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# even number of samples
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median = (sorted_z_positions[middle] +
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sorted_z_positions[middle - 1]) / 2
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calculated_value = [positions[0][0],
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positions[0][1],
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median]
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self.results.append(calculated_value)
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def start_probe(self, params):
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# Lookup objects
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self.toolhead = self.printer.lookup_object('toolhead')
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@ -345,12 +337,17 @@ class ProbePointsHelper:
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# Start probe
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self.results = []
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self.busy = True
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self._lift_z(self.horizontal_move_z, speed=self.speed)
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self._lift_z(self.horizontal_move_z, self.speed)
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self._move_next()
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if not self.manual_probe:
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# Perform automatic probing
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while self.busy:
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self._automatic_probe_point()
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try:
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pos = probe.run_probe()
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except self.gcode.error as e:
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self._finalize(False)
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raise
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self.results.append(pos)
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self._move_next()
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def _manual_probe_finalize(self, kin_pos):
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if kin_pos is None:
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