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probe: Allow probe parameters to be specified as g-code parameters

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Add PROBE_SPEED, SAMPLES, SAMPLE_RETRACT_DIST, SAMPLES_TOLERANCE,
SAMPLES_TOLERANCE_RETRIES, and SAMPLES_RESULT parameters to the PROBE
command (and to commands that indirectly invoke a probe).

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2019-06-21 14:44:28 -04:00
parent c92aca74b5
commit 83e6c01ada
2 changed files with 75 additions and 46 deletions
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44
klippy/extras/probe.py
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@ -30,14 +30,16 @@ class PrinterProbe:
pconfig = config.getsection('printer')
self.z_position = pconfig.getfloat('minimum_z_position', 0.)
# Multi-sample support (for improved accuracy)
self.samples = config.getint('samples', 1, minval=1)
self.sample_count = config.getint('samples', 1, minval=1)
self.sample_retract_dist = config.getfloat('sample_retract_dist', 2.,
above=0.)
atypes = {'median': 'median', 'average': 'average'}
self.samples_result = config.getchoice('samples_result', atypes,
'average')
self.samples_tolerance = config.getfloat('samples_tolerance', 0.100)
self.samples_retries = config.getint('samples_tolerance_retries', 0)
self.samples_tolerance = config.getfloat('samples_tolerance', 0.100,
minval=0.)
self.samples_retries = config.getint('samples_tolerance_retries', 0,
minval=0)
# Register z_virtual_endstop pin
self.printer.lookup_object('pins').register_chip('probe', self)
# Register PROBE/QUERY_PROBE commands
@ -98,17 +100,29 @@ class PrinterProbe:
return z_sorted[middle]
# even number of samples
return self._calc_mean(z_sorted[middle-1:middle+1])
def run_probe(self):
def run_probe(self, params={}):
speed = self.gcode.get_float(
"PROBE_SPEED", params, self.speed, above=0.)
sample_count = self.gcode.get_int(
"SAMPLES", params, self.sample_count, minval=1)
sample_retract_dist = self.gcode.get_float(
"SAMPLE_RETRACT_DIST", params, self.sample_retract_dist, above=0.)
samples_tolerance = self.gcode.get_float(
"SAMPLES_TOLERANCE", params, self.samples_tolerance, minval=0.)
samples_retries = self.gcode.get_int(
"SAMPLES_TOLERANCE_RETRIES", params, self.samples_retries, minval=0)
samples_result = self.gcode.get_str(
"SAMPLES_RESULT", params, self.samples_result)
retries = 0
positions = []
while len(positions) < self.samples:
while len(positions) < sample_count:
# Probe position
pos = self._probe(self.speed)
pos = self._probe(speed)
positions.append(pos)
# Check samples tolerance
z_positions = [p[2] for p in positions]
if max(z_positions) - min(z_positions) > self.samples_tolerance:
if retries >= self.samples_retries:
if max(z_positions) - min(z_positions) > samples_tolerance:
if retries >= samples_retries:
raise homing.CommandError(
"Probe samples exceed samples_tolerance")
self.gcode.respond_info(
@ -116,16 +130,16 @@ class PrinterProbe:
retries += 1
positions = []
# Retract
if len(positions) < self.samples:
liftpos = [None, None, pos[2] + self.sample_retract_dist]
self._move(liftpos, self.speed)
if len(positions) < sample_count:
liftpos = [None, None, pos[2] + sample_retract_dist]
self._move(liftpos, speed)
# Calculate and return result
if self.samples_result == 'median':
if samples_result == 'median':
return self._calc_median(positions)
return self._calc_mean(positions)
cmd_PROBE_help = "Probe Z-height at current XY position"
def cmd_PROBE(self, params):
pos = self.run_probe()
pos = self.run_probe(params)
self.gcode.respond_info("Result is z=%.6f" % (pos[2],))
cmd_QUERY_PROBE_help = "Return the status of the z-probe"
def cmd_QUERY_PROBE(self, params):
@ -192,7 +206,7 @@ class PrinterProbe:
def cmd_PROBE_CALIBRATE(self, params):
manual_probe.verify_no_manual_probe(self.printer)
# Perform initial probe
curpos = self.run_probe()
curpos = self.run_probe(params)
# Move away from the bed
self.probe_calibrate_z = curpos[2]
curpos[2] += 5.
@ -331,7 +345,7 @@ class ProbePointsHelper:
done = self._move_next()
if done:
break
pos = probe.run_probe()
pos = probe.run_probe(params)
self.results.append(pos)
def _manual_probe_start(self):
done = self._move_next()