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bltouch: refactor probing process to unify BLTouch and nozzle probing methods
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maxabba
parent
318678a468
commit
d6d1097da1
1 changed files with 69 additions and 134 deletions
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@ -355,165 +355,92 @@ class BLTouchProbe:
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extruder = toolhead.get_extruder()
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heaters.set_temperature(extruder.get_heater(), nozzle_temp, True)
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# Step 4: Probe with BLTouch using double touch for accuracy
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gcmd.respond_info("Probing with BLTouch (double touch)...")
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self.lower_probe()
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self.sync_print_time()
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# Step 4: BLTouch probe - EXACT SAME as PROBE_CALIBRATE
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gcmd.respond_info("Performing BLTouch probe (PROBE_CALIBRATE method)...")
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# First touch at normal speed
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# Import probe utilities
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from . import probe
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# Use run_single_probe - EXACT SAME method as PROBE_CALIBRATE
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# This ensures same coordinate reference system
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bltouch_pos = probe.run_single_probe(self, gcmd)
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z_bltouch_reference = bltouch_pos[2]
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gcmd.respond_info("BLTouch reference position: %.6f" % z_bltouch_reference)
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# Step 5: Move up and position nozzle - SAME as PROBE_CALIBRATE
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# Move away from the bed (same 5mm lift as PROBE_CALIBRATE)
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lift_pos = list(bltouch_pos)
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lift_pos[2] += 5.
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toolhead.manual_move(lift_pos, self.cal_lift_speed)
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# Move the nozzle over the probe point - SAME as PROBE_CALIBRATE
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x_offset, y_offset, z_offset = self.get_offsets()
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lift_pos[0] += x_offset
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lift_pos[1] += y_offset
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toolhead.manual_move(lift_pos, self.cal_probe_speed)
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gcmd.respond_info("Nozzle positioned over probe point at Z=%.6f" % lift_pos[2])
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# Step 6: Nozzle probe - Use direct probing method for endstop
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gcmd.respond_info("Performing nozzle probe (PROBE_CALIBRATE coordinate system)...")
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# Use homing module directly with nozzle endstop - SAME coordinate system
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phoming = self.printer.lookup_object('homing')
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pos = toolhead.get_position()
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z_min = 0.
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# Get current position and probe down to find bed
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current_pos = toolhead.get_position()
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# Get Z minimum position safely
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z_min = -5.0 # Use position_min from config
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try:
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config = self.printer.lookup_object('configfile')
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z_config = config.status_raw_config.get('stepper_z', {})
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z_min = float(z_config.get('position_min', 0.))
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z_min = float(z_config.get('position_min', -5.0))
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except:
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z_min = 0.
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z_min = -5.0
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pos[2] = z_min
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gcmd.respond_info("First touch at %.1f mm/s..." % self.cal_probe_speed)
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first_probe = phoming.probing_move(self, pos, self.cal_probe_speed)
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# Create probe target position - probe down to find bed
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probe_target = [current_pos[0], current_pos[1], z_min]
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# Retract
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toolhead.manual_move([None, None, first_probe[2] + self.cal_retract_dist], self.cal_lift_speed)
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gcmd.respond_info("Nozzle probing from Z=%.3f to Z=%.3f..." % (current_pos[2], z_min))
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# Second touch at slow speed
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gcmd.respond_info("Second touch at %.1f mm/s..." % self.cal_probe_speed_slow)
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self.lower_probe()
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self.sync_print_time()
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pos = toolhead.get_position()
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pos[2] = z_min
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bltouch_pos = phoming.probing_move(self, pos, self.cal_probe_speed_slow)
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# Use probing_move with nozzle endstop - SAME coordinate system as BLTouch
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nozzle_pos = phoming.probing_move(self.nozzle_endstop, probe_target, self.cal_probe_speed_slow)
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z_nozzle_reference = nozzle_pos[2]
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z_bltouch = bltouch_pos[2]
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gcmd.respond_info("BLTouch final Z position: %.6f" % z_bltouch)
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gcmd.respond_info("Nozzle reference position: %.6f" % z_nozzle_reference)
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# Step 5: Move up and retract BLTouch
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toolhead.manual_move([None, None, z_bltouch + 10.], 50.)
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self.raise_probe()
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self.verify_raise_probe()
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# Step 7: Calculate z_offset - EXACT SAME formula as PROBE_CALIBRATE
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# z_offset = probe_calibrate_z - final_nozzle_z
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# In PROBE_CALIBRATE: z_offset = self.probe_calibrate_z - kin_pos[2]
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new_z_offset = z_bltouch_reference - z_nozzle_reference
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# Step 6: Move nozzle to the exact same XY position where BLTouch touched
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# The nozzle should go to the calibration position (cal_x, cal_y)
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toolhead.manual_move([cal_x, cal_y, None], 50.)
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gcmd.respond_info("BLTouch reference: %.6f, Nozzle reference: %.6f" %
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(z_bltouch_reference, z_nozzle_reference))
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gcmd.respond_info("Calculated z_offset: %.6f" % new_z_offset)
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# Step 7: Probe with nozzle using double touch for accuracy
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gcmd.respond_info("Probing with nozzle (double touch)...")
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pos = toolhead.get_position()
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# Validate against expected physical measurement
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expected_offset = 4.1 # Your measured physical distance
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offset_error = abs(new_z_offset - expected_offset)
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# Calculate safe Z target position for probing
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current_z = pos[2]
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max_probe_dist = 10.0 # Maximum probing distance
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gcmd.respond_info("Calculated: %.6f, Expected: %.6f, Error: %.6f" %
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(new_z_offset, expected_offset, offset_error))
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# Get Z minimum position from stepper_z config or use 0
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try:
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config = self.printer.lookup_object('configfile')
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z_config = config.status_raw_config.get('stepper_z', {})
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z_min = float(z_config.get('position_min', 0.))
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except:
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z_min = 0.
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# Target Z is the maximum between minimum Z and (current - max distance)
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target_z = max(z_min, current_z - max_probe_dist)
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pos[2] = target_z
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# Setup nozzle endstop for probing
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phoming = self.printer.lookup_object('homing')
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# First touch at normal speed
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gcmd.respond_info("First nozzle touch at %.1f mm/s..." % self.cal_probe_speed)
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first_nozzle = phoming.probing_move(self.nozzle_endstop, pos, self.cal_probe_speed)
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# Retract
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toolhead.manual_move([None, None, first_nozzle[2] + self.cal_nozzle_retract_dist], self.cal_lift_speed)
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# Second touch at slow speed at center position
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gcmd.respond_info("Center nozzle touch at %.1f mm/s..." % self.cal_probe_speed_slow)
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pos = toolhead.get_position()
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pos[2] = target_z
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center_pos = phoming.probing_move(self.nozzle_endstop, pos, self.cal_probe_speed_slow)
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center_z = center_pos[2]
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# Retract
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toolhead.manual_move([None, None, center_z + self.cal_nozzle_retract_dist], self.cal_lift_speed)
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# Perform cross pattern measurements if enabled
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nozzle_samples = [center_z] # Start with center measurement
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if self.cal_nozzle_samples > 1:
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# Define cross pattern offsets: back, right, front, left
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cross_offsets = [
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(0, -self.cal_nozzle_diameter), # Back
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(self.cal_nozzle_diameter, 0), # Right
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(0, self.cal_nozzle_diameter), # Front
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(-self.cal_nozzle_diameter, 0) # Left
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]
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# Limit to requested number of samples
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num_cross_samples = min(self.cal_nozzle_samples - 1, 4)
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for i in range(num_cross_samples):
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x_off, y_off = cross_offsets[i]
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direction = ["back", "right", "front", "left"][i]
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# Move to cross position
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toolhead.manual_move([cal_x + x_off, cal_y + y_off, None], 50.)
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gcmd.respond_info("Cross touch %s (%.1f, %.1f) at %.1f mm/s..." %
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(direction, cal_x + x_off, cal_y + y_off, self.cal_probe_speed_slow))
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pos = toolhead.get_position()
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pos[2] = target_z
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cross_pos = phoming.probing_move(self.nozzle_endstop, pos, self.cal_probe_speed_slow)
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nozzle_samples.append(cross_pos[2])
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# Retract
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toolhead.manual_move([None, None, cross_pos[2] + self.cal_nozzle_retract_dist], self.cal_lift_speed)
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# Calculate statistics with weighted average favoring center
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if len(nozzle_samples) > 1:
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# Calculate average and standard deviation of all samples
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avg_all = sum(nozzle_samples) / len(nozzle_samples)
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variance = sum((x - avg_all) ** 2 for x in nozzle_samples) / len(nozzle_samples)
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std_dev = variance ** 0.5
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# Weighted average: center has 50% weight, cross points share remaining 50%
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center_weight = 0.5
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cross_weight = 0.5 / (len(nozzle_samples) - 1)
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z_nozzle = center_z * center_weight
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for cross_z in nozzle_samples[1:]:
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z_nozzle += cross_z * cross_weight
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gcmd.respond_info("Nozzle samples: Center=%.6f, Cross=[%s]" %
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(center_z, ", ".join(["%.6f" % z for z in nozzle_samples[1:]])))
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gcmd.respond_info("Center Z: %.6f, Simple avg: %.6f, Weighted avg: %.6f, StdDev: %.6f" %
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(center_z, avg_all, z_nozzle, std_dev))
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else:
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z_nozzle = center_z
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gcmd.respond_info("Nozzle final Z position: %.6f" % z_nozzle)
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# Step 8: Calculate and save new z-offset
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# z_offset = nozzle_z - bltouch_z (how much lower the nozzle is compared to BLTouch)
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# This should always be positive since nozzle touches the bed at a higher Z value
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new_z_offset = z_nozzle - z_bltouch
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if offset_error > 1.0:
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gcmd.respond_info("WARNING: Large offset error detected. Check BLTouch mounting and nozzle probe configuration.")
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# Validate that the offset makes physical sense
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if new_z_offset < 0:
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raise gcmd.error(
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"Invalid z-offset calculation: %.6f\n"
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"BLTouch Z: %.6f, Nozzle Z: %.6f\n"
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"The nozzle should trigger at a higher Z position than the BLTouch.\n"
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"The nozzle should trigger at a lower Z position than the BLTouch.\n"
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"Please check your wiring and probe configuration." %
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(new_z_offset, z_bltouch, z_nozzle))
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gcmd.respond_info("Calculated z-offset: %.6f" % new_z_offset)
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gcmd.respond_info("BLTouch triggers at Z=%.6f, Nozzle touches at Z=%.6f" % (z_bltouch, z_nozzle))
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(new_z_offset, z_bltouch_reference, z_nozzle_reference))
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# Move up for safety
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toolhead.manual_move([None, None, z_nozzle + 10.], 50.)
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toolhead.manual_move([None, None, max(z_bltouch_reference, z_nozzle_reference) + 10.], 50.)
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# Save the positive offset value
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save_z_offset = new_z_offset
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@ -528,6 +455,14 @@ class BLTouchProbe:
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"New z_offset: %.6f\n"
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"The SAVE_CONFIG command will update the printer config file\n"
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"with the above and restart the printer." % save_z_offset)
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# Re-home to restore coordinate system integrity
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gcmd.respond_info("Re-homing to restore coordinate system...")
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gcode.run_script_from_command("G28")
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# Verify coordinate restoration
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restored_pos = toolhead.get_position()
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gcmd.respond_info("Coordinate system restored. Current Z position: %.6f" % restored_pos[2])
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def load_config(config):
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blt = BLTouchProbe(config)
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