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bltouch: add nozzle diameter configuration and enhance probing statistics

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maxabba 2025-08-25 16:16:50 +02:00
parent ee8533fce5
commit ddef8087f1
1 changed files with 68 additions and 20 deletions
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88
klippy/extras/bltouch.py
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@ -57,6 +57,7 @@ class BLTouchProbe:
self.cal_retract_dist = config.getfloat('calibration_retract_dist', 2.0, above=0.)
self.cal_nozzle_retract_dist = config.getfloat('calibration_nozzle_retract_dist', 2.0, above=0.)
self.cal_nozzle_samples = config.getint('calibration_nozzle_samples', 1, minval=1, maxval=10)
self.cal_nozzle_diameter = config.getfloat('calibration_nozzle_diameter', 0.4, above=0.)
else:
self.nozzle_endstop = None
self.calibration_position = None
@ -67,6 +68,7 @@ class BLTouchProbe:
self.cal_retract_dist = None
self.cal_nozzle_retract_dist = None
self.cal_nozzle_samples = None
self.cal_nozzle_diameter = None
# output mode
omodes = ['5V', 'OD', None]
self.output_mode = config.getchoice('set_output_mode', omodes, None)
@ -421,27 +423,70 @@ class BLTouchProbe:
# Retract
toolhead.manual_move([None, None, first_nozzle[2] + self.cal_nozzle_retract_dist], self.cal_lift_speed)
# Multiple slow speed touches for averaging
nozzle_samples = []
for i in range(self.cal_nozzle_samples):
gcmd.respond_info("Nozzle touch %d/%d at %.1f mm/s..." % (i+1, self.cal_nozzle_samples, self.cal_probe_speed_slow))
pos = toolhead.get_position()
pos[2] = target_z
nozzle_pos = phoming.probing_move(self.nozzle_endstop, pos, self.cal_probe_speed_slow)
nozzle_samples.append(nozzle_pos[2])
# Retract between samples if not the last one
if i < self.cal_nozzle_samples - 1:
toolhead.manual_move([None, None, nozzle_pos[2] + self.cal_nozzle_retract_dist], self.cal_lift_speed)
# Second touch at slow speed at center position
gcmd.respond_info("Center nozzle touch at %.1f mm/s..." % self.cal_probe_speed_slow)
pos = toolhead.get_position()
pos[2] = target_z
center_pos = phoming.probing_move(self.nozzle_endstop, pos, self.cal_probe_speed_slow)
center_z = center_pos[2]
# Calculate average and standard deviation
z_nozzle = sum(nozzle_samples) / len(nozzle_samples)
# Retract
toolhead.manual_move([None, None, center_z + self.cal_nozzle_retract_dist], self.cal_lift_speed)
# Perform cross pattern measurements if enabled
nozzle_samples = [center_z] # Start with center measurement
if self.cal_nozzle_samples > 1:
# Define cross pattern offsets: back, right, front, left
cross_offsets = [
(0, -self.cal_nozzle_diameter), # Back
(self.cal_nozzle_diameter, 0), # Right
(0, self.cal_nozzle_diameter), # Front
(-self.cal_nozzle_diameter, 0) # Left
]
# Limit to requested number of samples
num_cross_samples = min(self.cal_nozzle_samples - 1, 4)
for i in range(num_cross_samples):
x_off, y_off = cross_offsets[i]
direction = ["back", "right", "front", "left"][i]
# Move to cross position
toolhead.manual_move([cal_x + x_off, cal_y + y_off, None], 50.)
gcmd.respond_info("Cross touch %s (%.1f, %.1f) at %.1f mm/s..." %
(direction, cal_x + x_off, cal_y + y_off, self.cal_probe_speed_slow))
pos = toolhead.get_position()
pos[2] = target_z
cross_pos = phoming.probing_move(self.nozzle_endstop, pos, self.cal_probe_speed_slow)
nozzle_samples.append(cross_pos[2])
# Retract
toolhead.manual_move([None, None, cross_pos[2] + self.cal_nozzle_retract_dist], self.cal_lift_speed)
# Calculate statistics with weighted average favoring center
if len(nozzle_samples) > 1:
variance = sum((x - z_nozzle) ** 2 for x in nozzle_samples) / len(nozzle_samples)
# Calculate average and standard deviation of all samples
avg_all = sum(nozzle_samples) / len(nozzle_samples)
variance = sum((x - avg_all) ** 2 for x in nozzle_samples) / len(nozzle_samples)
std_dev = variance ** 0.5
gcmd.respond_info("Nozzle samples: %s" % ", ".join(["%.6f" % z for z in nozzle_samples]))
gcmd.respond_info("Nozzle average Z: %.6f, StdDev: %.6f" % (z_nozzle, std_dev))
# Weighted average: center has 50% weight, cross points share remaining 50%
center_weight = 0.5
cross_weight = 0.5 / (len(nozzle_samples) - 1)
z_nozzle = center_z * center_weight
for cross_z in nozzle_samples[1:]:
z_nozzle += cross_z * cross_weight
gcmd.respond_info("Nozzle samples: Center=%.6f, Cross=[%s]" %
(center_z, ", ".join(["%.6f" % z for z in nozzle_samples[1:]])))
gcmd.respond_info("Center Z: %.6f, Simple avg: %.6f, Weighted avg: %.6f, StdDev: %.6f" %
(center_z, avg_all, z_nozzle, std_dev))
else:
z_nozzle = center_z
gcmd.respond_info("Nozzle final Z position: %.6f" % z_nozzle)
# Step 8: Calculate and save new z-offset
@ -451,16 +496,19 @@ class BLTouchProbe:
# Move up for safety
toolhead.manual_move([None, None, z_nozzle + 10.], 50.)
# Convert negative offset to positive for saving
save_z_offset = abs(new_z_offset) if new_z_offset < 0 else new_z_offset
# Save the new z-offset
self.position_endstop = new_z_offset
self.position_endstop = save_z_offset
configfile = self.printer.lookup_object('configfile')
configfile.set('bltouch', 'z_offset', "%.6f" % new_z_offset)
configfile.set('bltouch', 'z_offset', "%.6f" % save_z_offset)
gcmd.respond_info(
"BLTouch z_offset calibration complete!\n"
"New z_offset: %.6f\n"
"The SAVE_CONFIG command will update the printer config file\n"
"with the above and restart the printer." % new_z_offset)
"with the above and restart the printer." % save_z_offset)
def load_config(config):
blt = BLTouchProbe(config)