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z_tilt: Add support for Z_TILT_ADJUST
Add new module to support independent adjustments to multiple Z steppers to account for bed tilt. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
parent
4bf1b042b1
commit
3025638b9b
5 changed files with 152 additions and 2 deletions
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@ -169,6 +169,8 @@ class ProbePointsHelper:
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self.results = []
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self.busy = False
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self.gcode = self.toolhead = None
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def get_lift_speed(self):
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return self.lift_speed
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def start_probe(self):
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# Begin probing
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self.toolhead = self.printer.lookup_object('toolhead')
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109
klippy/extras/z_tilt.py
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109
klippy/extras/z_tilt.py
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@ -0,0 +1,109 @@
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# Mechanical bed tilt calibration with multiple Z steppers
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#
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# Copyright (C) 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 logging
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import probe, mathutil
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class ZTilt:
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def __init__(self, config):
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self.printer = config.get_printer()
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z_positions = config.get('z_positions').split('\n')
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try:
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z_positions = [line.split(',', 1)
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for line in z_positions if line.strip()]
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self.z_positions = [(float(zp[0].strip()), float(zp[1].strip()))
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for zp in z_positions]
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except:
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raise config.error("Unable to parse z_positions in %s" % (
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config.get_name()))
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self.probe_helper = probe.ProbePointsHelper(
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config, self, default_points=self.z_positions)
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self.z_steppers = []
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# Register Z_TILT_ADJUST command
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self.gcode = self.printer.lookup_object('gcode')
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self.gcode.register_command(
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'Z_TILT_ADJUST', self.cmd_Z_TILT_ADJUST,
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desc=self.cmd_Z_TILT_ADJUST_help)
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def printer_state(self, state):
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if state == 'connect':
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self.handle_connect()
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def handle_connect(self):
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kin = self.printer.lookup_object('toolhead').get_kinematics()
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try:
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z_stepper = kin.get_steppers('Z')[0]
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z_steppers = [z_stepper] + z_stepper.extras
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except:
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logging.exception("z_tilt stepper lookup")
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raise self.printer.config_error(
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"z_tilt requires multiple Z steppers")
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if len(z_steppers) != len(self.z_positions):
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raise self.printer.config_error(
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"z_tilt z_positions needs exactly %d items" % (len(z_steppers),))
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self.z_steppers = z_steppers
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cmd_Z_TILT_ADJUST_help = "Adjust the Z tilt"
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def cmd_Z_TILT_ADJUST(self, params):
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self.probe_helper.start_probe()
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def get_position(self):
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kin = self.printer.lookup_object('toolhead').get_kinematics()
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return kin.get_position()
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def finalize(self, z_offset, positions):
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logging.info("Calculating bed tilt with: %s", positions)
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params = { 'x_adjust': 0., 'y_adjust': 0., 'z_adjust': z_offset }
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def adjusted_height(pos, params):
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x, y, z = pos
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return (z - x*params['x_adjust'] - y*params['y_adjust']
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- params['z_adjust'])
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def errorfunc(params):
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total_error = 0.
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for pos in positions:
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total_error += adjusted_height(pos, params)**2
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return total_error
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new_params = mathutil.coordinate_descent(
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params.keys(), params, errorfunc)
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logging.info("Calculated bed tilt parameters: %s", new_params)
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try:
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self.adjust_steppers(new_params['x_adjust'], new_params['y_adjust'],
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new_params['z_adjust'], z_offset)
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except:
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logging.exception("z_tilt adjust_steppers")
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for s in self.z_steppers:
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z.mcu_stepper.set_ignore_move(False)
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raise
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def adjust_steppers(self, x_adjust, y_adjust, z_adjust, z_offset):
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toolhead = self.printer.lookup_object('toolhead')
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curpos = toolhead.get_position()
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speed = self.probe_helper.get_lift_speed()
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# Find each stepper adjustment and disable all stepper movements
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positions = []
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for s, (x, y) in zip(self.z_steppers, self.z_positions):
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s.mcu_stepper.set_ignore_move(True)
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stepper_offset = -(x*x_adjust + y*y_adjust)
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positions.append((stepper_offset, s))
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# Report on movements
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msg = "Making the following Z tilt adjustments:\n%s\nz_offset = %.6f" % (
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"\n".join(["%s = %.6f" % (s.name, so) for so, s in positions]),
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z_adjust - z_offset)
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logging.info(msg)
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self.gcode.respond_info(msg)
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# Move each z stepper (sorted from lowest to highest) until they match
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positions.sort()
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first_stepper_offset, first_stepper = positions[0]
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z_low = curpos[2] - first_stepper_offset
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for i in range(len(positions)-1):
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stepper_offset, stepper = positions[i]
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next_stepper_offset, next_stepper = positions[i+1]
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stepper.mcu_stepper.set_ignore_move(False)
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curpos[2] = z_low + next_stepper_offset
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toolhead.move(curpos, speed)
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toolhead.set_position(curpos)
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# Z should now be level - do final cleanup
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last_stepper_offset, last_stepper = positions[-1]
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last_stepper.mcu_stepper.set_ignore_move(False)
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curpos[2] -= z_adjust - z_offset
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toolhead.set_position(curpos)
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self.gcode.reset_last_position()
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def load_config(config):
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return ZTilt(config)
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@ -23,6 +23,7 @@ class MCU_stepper:
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self._min_stop_interval = 0.
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self._reset_cmd_id = self._get_position_cmd = None
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self._ffi_lib = self._stepqueue = None
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self._stepcompress_push_const = self._stepcompress_push_delta = None
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def get_mcu(self):
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return self._mcu
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def setup_dir_pin(self, pin_params):
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@ -60,6 +61,7 @@ class MCU_stepper:
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self._invert_dir, self._oid),
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self._ffi_lib.stepcompress_free)
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self._mcu.register_stepqueue(self._stepqueue)
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self.set_ignore_move(False)
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def get_oid(self):
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return self._oid
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def get_step_dist(self):
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@ -75,6 +77,13 @@ class MCU_stepper:
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if mcu_pos >= 0.:
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return int(mcu_pos + 0.5)
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return int(mcu_pos - 0.5)
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def set_ignore_move(self, ignore_move):
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if ignore_move:
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self._stepcompress_push_const = (lambda *args: 0)
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self._stepcompress_push_delta = (lambda *args: 0)
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else:
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self._stepcompress_push_const = self._ffi_lib.stepcompress_push_const
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self._stepcompress_push_delta = self._ffi_lib.stepcompress_push_delta
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def note_homing_start(self, homing_clock):
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ret = self._ffi_lib.stepcompress_set_homing(
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self._stepqueue, homing_clock)
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@ -109,7 +118,7 @@ class MCU_stepper:
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def step_const(self, print_time, start_pos, dist, start_v, accel):
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inv_step_dist = self._inv_step_dist
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step_offset = self._commanded_pos - start_pos * inv_step_dist
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count = self._ffi_lib.stepcompress_push_const(
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count = self._stepcompress_push_const(
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self._stepqueue, print_time, step_offset, dist * inv_step_dist,
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start_v * inv_step_dist, accel * inv_step_dist)
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if count == STEPCOMPRESS_ERROR_RET:
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@ -119,7 +128,7 @@ class MCU_stepper:
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, height_base, startxy_d, arm_d, movez_r):
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inv_step_dist = self._inv_step_dist
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height = self._commanded_pos - height_base * inv_step_dist
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count = self._ffi_lib.stepcompress_push_delta(
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count = self._stepcompress_push_delta(
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self._stepqueue, print_time, dist * inv_step_dist,
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start_v * inv_step_dist, accel * inv_step_dist,
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height, startxy_d * inv_step_dist, arm_d * inv_step_dist, movez_r)
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