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probe: Add support for samples_tolerance

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Add a check on the maximum Z distance between probe samples.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2019-06-21 13:52:29 -04:00
parent a613045287
commit c92aca74b5
2 changed files with 32 additions and 5 deletions
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25
klippy/extras/probe.py
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@ -31,11 +31,13 @@ class PrinterProbe:
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_retract_dist = config.getfloat(
'sample_retract_dist', 2., above=0.)
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)
# Register z_virtual_endstop pin
self.printer.lookup_object('pins').register_chip('probe', self)
# Register PROBE/QUERY_PROBE commands
@ -97,14 +99,27 @@ class PrinterProbe:
# even number of samples
return self._calc_mean(z_sorted[middle-1:middle+1])
def run_probe(self):
retries = 0
positions = []
for i in range(self.samples):
while len(positions) < self.samples:
# Probe position
pos = self._probe(self.speed)
positions.append(pos)
if i < self.samples - 1:
# retract
# 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:
raise homing.CommandError(
"Probe samples exceed samples_tolerance")
self.gcode.respond_info(
"Probe samples exceed tolerance. Retrying...")
retries += 1
positions = []
# Retract
if len(positions) < self.samples:
liftpos = [None, None, pos[2] + self.sample_retract_dist]
self._move(liftpos, self.speed)
# Calculate and return result
if self.samples_result == 'median':
return self._calc_median(positions)
return self._calc_mean(positions)