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delta_calibrate: Add initial support for a DELTA_CALIBRATE command
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
parent
ce9db609ad
commit
434341d074
4 changed files with 249 additions and 30 deletions
76
klippy/extras/delta_calibrate.py
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76
klippy/extras/delta_calibrate.py
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# 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, delta
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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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self.radius = config.getfloat('radius', above=0.)
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self.speed = config.getfloat('speed', 50., above=0.)
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self.horizontal_move_z = config.getfloat('horizontal_move_z', 5.)
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self.probe_z_offset = config.getfloat('probe_z_offset', 0.)
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self.manual_probe = config.getboolean('manual_probe', None)
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if self.manual_probe is None:
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self.manual_probe = not config.has_section('probe')
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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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# Setup probe points
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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 = self.radius * scatter[i]
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points.append((math.cos(r) * dist, math.sin(r) * dist))
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# Probe them
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self.gcode.run_script("G28")
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probe.ProbePointsHelper(self.printer, points, self.horizontal_move_z,
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self.speed, self.manual_probe, self)
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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_stable_position()
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def finalize(self, positions):
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kin = self.printer.lookup_object('toolhead').get_kinematics()
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logging.debug("Got: %s", positions)
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params = kin.get_calibrate_params()
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logging.debug("Params: %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 spos in positions:
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x, y, z = delta.get_position_from_stable(spos, params)
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total_error += (z - self.probe_z_offset)**2
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return total_error
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new_params = probe.coordinate_descent(
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adj_params, params, delta_errorfunc)
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logging.debug("Got2: %s", new_params)
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for spos in positions:
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logging.debug("orig: %s new: %s",
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delta.get_position_from_stable(spos, params),
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delta.get_position_from_stable(spos, new_params))
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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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"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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if config.get_name() != 'delta_calibrate':
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raise config.error("Invalid delta_calibrate config name")
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return DeltaCalibrate(config)
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@ -3,6 +3,7 @@
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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 logging
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import homing
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class PrinterProbe:
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@ -48,6 +49,91 @@ class PrinterProbe:
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self.gcode.respond_info(
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"probe: %s" % (["open", "TRIGGERED"][not not res],))
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# Helper code that can probe a series of points and report the
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# position at each point.
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class ProbePointsHelper:
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def __init__(self, printer, probe_points, horizontal_move_z, speed,
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manual_probe, callback):
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self.printer = printer
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self.probe_points = probe_points
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self.horizontal_move_z = horizontal_move_z
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self.speed = speed
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self.callback = callback
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self.toolhead = self.printer.lookup_object('toolhead')
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self.results = []
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self.busy = True
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self.gcode = self.printer.lookup_object('gcode')
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self.gcode.register_command(
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'NEXT', self.cmd_NEXT, desc=self.cmd_NEXT_help)
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# Begin probing
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self.move_next()
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if not manual_probe:
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while self.busy:
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self.gcode.run_script("PROBE")
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self.cmd_NEXT({})
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def move_next(self):
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x, y = self.probe_points[len(self.results)]
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curpos = self.toolhead.get_position()
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curpos[0] = x
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curpos[1] = y
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curpos[2] = self.horizontal_move_z
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self.toolhead.move(curpos, self.speed)
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self.gcode.reset_last_position()
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cmd_NEXT_help = "Move to the next XY position to probe"
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def cmd_NEXT(self, params):
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# Record current position
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self.toolhead.wait_moves()
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self.results.append(self.callback.get_position())
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# Move to next position
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curpos = self.toolhead.get_position()
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curpos[2] = self.horizontal_move_z
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self.toolhead.move(curpos, self.speed)
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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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self.finalize(True)
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return
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self.move_next()
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def finalize(self, success):
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self.busy = False
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self.gcode.reset_last_position()
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self.gcode.register_command('NEXT', None)
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if success:
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self.callback.finalize(self.results)
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# Helper code that implements coordinate descent
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def coordinate_descent(adj_params, params, error_func):
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# Define potential changes
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params = dict(params)
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dp = {param_name: 1. for param_name in adj_params}
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# Calculate the error
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best_err = error_func(params)
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threshold = 0.00001
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rounds = 0
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while sum(dp.values()) > threshold and rounds < 10000:
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rounds += 1
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for param_name in adj_params:
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orig = params[param_name]
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params[param_name] = orig + dp[param_name]
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err = error_func(params)
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if err < best_err:
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# There was some improvement
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best_err = err
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dp[param_name] *= 1.1
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continue
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params[param_name] = orig - dp[param_name]
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err = error_func(params)
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if err < best_err:
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# There was some improvement
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best_err = err
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dp[param_name] *= 1.1
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continue
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params[param_name] = orig
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dp[param_name] *= 0.9
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logging.debug("best_err: %s rounds: %d", best_err, rounds)
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return params
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def load_config(config):
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if config.get_name() != 'probe':
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raise config.error("Invalid probe config name")
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