Skip to content

Commit

Permalink
Merge branch 'master' into development
Browse files Browse the repository at this point in the history
  • Loading branch information
@TitusLabs
TitusLabs committed Aug 1, 2024
2 parents 40cfc68 + 5489e7b commit d3a48e4
Showing 1 changed file with 95 additions and 77 deletions.
172 changes: 95 additions & 77 deletions z_calibration.py
View file
Original file line number Diff line number Diff line change
Expand Up @@ -141,19 +141,20 @@ def _build_config(self):
def cmd_CALIBRATE_Z(self, gcmd):
self.last_state = False
if self.z_homing is None:
raise gcmd.error("Must home axes first")
raise gcmd.error("%s: must home axes first" % (gcmd.get_command()))
nozzle_site = self._get_nozzle_site(gcmd)
switch_site = self._get_switch_site(gcmd, nozzle_site)
bed_site = self._get_bed_site(gcmd)
switch_offset = self._get_switch_offset(gcmd)
self._log_params(switch_offset, nozzle_site, switch_site, bed_site)
self._log_params(gcmd, switch_offset, nozzle_site, switch_site,
bed_site)
state = CalibrationState(self, gcmd)
state.calibrate_z(switch_offset, nozzle_site, switch_site, bed_site)
cmd_PROBE_Z_ACCURACY_help = ("Probe Z-Endstop accuracy at"
" Nozzle-Endstop position")
def cmd_PROBE_Z_ACCURACY(self, gcmd):
if self.z_homing is None:
raise gcmd.error("Must home axes first")
raise gcmd.error("%s: must home axes first" % (gcmd.get_command()))
speed = gcmd.get_float("PROBE_SPEED", self.second_speed, above=0.)
lift_speed = gcmd.get_float("LIFT_SPEED", self.lift_speed, above=0.)
sample_count = gcmd.get_int("SAMPLES", self.samples, minval=1)
Expand All @@ -166,17 +167,17 @@ def cmd_PROBE_Z_ACCURACY(self, gcmd):
# move to z-endstop position
self._move(list(nozzle_site), self.speed)
pos = toolhead.get_position()
gcmd.respond_info("PROBE_ACCURACY at X:%.3f Y:%.3f Z:%.3f"
gcmd.respond_info("%s at X:%.3f Y:%.3f Z:%.3f"
" (samples=%d retract=%.3f"
" speed=%.1f lift_speed=%.1f)\n"
% (pos[0], pos[1], pos[2],
sample_count, sample_retract_dist,
speed, lift_speed))
% (gcmd.get_command(), pos[0], pos[1], pos[2],
sample_count, sample_retract_dist, speed,
lift_speed))
# Probe bed sample_count times
positions = []
while len(positions) < sample_count:
# Probe position
pos = self._probe(self.z_endstop, self.position_min, speed)
pos = self._probe(gcmd, self.z_endstop, self.position_min, speed)
positions.append(pos)
# Retract
liftpos = [None, None, pos[2] + sample_retract_dist]
Expand All @@ -194,27 +195,30 @@ def cmd_PROBE_Z_ACCURACY(self, gcmd):
sigma = (deviation_sum / len(positions)) ** 0.5
# show result
gcmd.respond_info(
"probe accuracy results: maximum %.6f, minimum %.6f, range %.6f,"
" average %.6f, median %.6f, standard deviation %.6f" % (
max_value, min_value, range_value, avg_value, median, sigma))
"%s: probe z accuracy results: maximum %.6f, minimum %.6f,"
" range %.6f, average %.6f, median %.6f, standard deviation %.6f"
% (gcmd.get_command(), max_value, min_value, range_value,
avg_value, median, sigma))
cmd_CALCULATE_SWITCH_OFFSET_help = ("Calculates a switch_offset based on"
" the current z position")
def cmd_CALCULATE_SWITCH_OFFSET(self, gcmd):
if self.last_z_offset is None:
raise gcmd.error("Must run CALIBRATE_Z first")
raise gcmd.error("%s: must run CALIBRATE_Z first"
% (gcmd.get_command()))
switch_offset = self._get_switch_offset(gcmd)
toolhead = self.printer.lookup_object('toolhead')
pos = toolhead.get_position()
new_switch_offset = switch_offset - (pos[2] - self.last_z_offset)
if new_switch_offset > 0.0:
gcmd.respond_info("switch_offset=%.3f - (current_z=%.3f - z_offset=%.3f"
") --> new switch_offset=%.3f"
% (switch_offset, pos[2], self.last_z_offset,
new_switch_offset))
gcmd.respond_info("%s: switch_offset=%.3f - (current_z=%.3f -"
" z_offset=%.3f) --> new switch_offset=%.3f"
% (gcmd.get_command(), switch_offset, pos[2],
self.last_z_offset, new_switch_offset))
else:
gcmd.respond_info("The resulting switch offset is negative! Either"
" the nozzle is still too far away or something"
" else is wrong...")
gcmd.respond_info("%s: the resulting switch offset is negative!"
" Either the nozzle is still too far away or"
" something else is wrong..."
% (gcmd.get_command()))
def _get_nozzle_site(self, gcmd):
nozzle_param = gcmd.get("NOZZLE_POSITION", "")
safe_z_home = self.printer.lookup_object('safe_z_home', default=None)
Expand All @@ -227,10 +231,10 @@ def _get_nozzle_site(self, gcmd):
# get z-endstop position from safe_z_home
if safe_z_home is not None:
return [safe_z_home.home_x_pos, safe_z_home.home_y_pos, None]
raise gcmd.error("Cannot find a nozzle position! Either configure"
" the nozzle_xy_position for %s, the [safe_z_home]"
", or use the NOZZLE_POSITION parameter."
% (self.config.get_name()))
raise gcmd.error("%s: cannot find a nozzle position! Either configure"
" the nozzle_xy_position for %s, the [safe_z_home],"
" or use the NOZZLE_POSITION parameter."
% (gcmd.get_command(), self.config.get_name()))
def _get_switch_site(self, gcmd, nozzle_site):
switch_param = gcmd.get("SWITCH_POSITION", "")
# from SWITCH_POSITION parameter
Expand All @@ -244,10 +248,10 @@ def _get_switch_site(self, gcmd, nozzle_site):
return [nozzle_site[0] + self.switch_xy_offsets[0],
nozzle_site[1] + self.switch_xy_offsets[1],
None]
raise gcmd.error("Cannot find a switch position! Either configure"
" the switch_xy_position or the switch_xy_offsets"
" for %s or use the SWITCH_POSITION parameter."
% (self.config.get_name()))
raise gcmd.error("%s: cannot find a switch position! Either configure"
" the switch_xy_position or the switch_xy_offsets for"
" %s or use the SWITCH_POSITION parameter."
% (gcmd.get_command(), self.config.get_name()))
def _get_bed_site(self, gcmd):
bed_param = gcmd.get("BED_POSITION", "")
mesh = self.printer.lookup_object('bed_mesh', default=None)
Expand All @@ -271,20 +275,22 @@ def _get_bed_site(self, gcmd):
# TODO: remove: trying to read the deprecated rri
rri = mesh.bmc.relative_reference_index
return mesh.bmc.points[rri]
raise gcmd.error("Cannot find a bed position! Either configure the"
raise gcmd.error("%s: cannot find a bed position! Either configure the"
" bed_xy_position for %s, the mesh's"
" zero_reference_position, or use the NOZZLE_POSITION"
" parameter." % (self.config.get_name()))
" parameter."
% (gcmd.get_command(), self.config.get_name()))
def _get_switch_offset(self, gcmd):
# from SWITCH_OFFSET parameter
if gcmd.get("SWITCH_OFFSET", ""):
return gcmd.get_float("SWITCH_OFFSET", None, above=0.)
# from configuration
if self.switch_offset is not None:
return self.switch_offset
raise gcmd.error("Cannot find a switch offset! Either configure the"
" switch_offset for %s, or use the SWITCH_OFFSET"
" parameter." % (self.config.get_name()))
raise gcmd.error("%s: cannot find a switch offset! Either configure"
" the switch_offset for %s, or use the SWITCH_OFFSET"
" parameter."
% (gcmd.get_command(), self.config.get_name()))
def _get_xy(self, name, optional=False):
if optional and self.config.get(name, None) is None:
return None
Expand All @@ -296,7 +302,8 @@ def _parse_xy(self, name, site, gcmd=None):
return [float(x_pos), float(y_pos), None]
except:
if gcmd is not None:
raise gcmd.error("Unable to parse %s" % (name))
raise gcmd.error("%s: unable to parse %s"
% (gcmd.get_command(), name))
else:
raise self.config.error("Unable to parse %s in %s"
% (name, self.config.get_name()))
Expand All @@ -313,7 +320,7 @@ def _get_offset_margins(self, name, default):
except:
raise self.config.error("Unable to parse %s in %s"
% (name, self.config.get_name()))
def _probe(self, mcu_endstop, z_position, speed, wiggle=False):
def _probe(self, gcmd, mcu_endstop, z_position, speed, wiggle=False):
toolhead = self.printer.lookup_object('toolhead')
pos = toolhead.get_position()
pos[2] = z_position
Expand All @@ -329,8 +336,9 @@ def _probe(self, mcu_endstop, z_position, speed, wiggle=False):
None],
self.speed)
self._move([curpos[0], curpos[1], None], self.speed)
self.gcode.respond_info("probe at %.3f,%.3f is z=%.6f"
% (curpos[0], curpos[1], curpos[2]))
self.gcode.respond_info("%s: probe at %.3f,%.3f is z=%.6f"
% (gcmd.get_command(), curpos[0],
curpos[1], curpos[2]))
return curpos
def _move(self, coord, speed):
self.printer.lookup_object('toolhead').manual_move(coord, speed)
Expand All @@ -356,26 +364,25 @@ def _calc_median(self, positions):
return z_sorted[middle]
# even number of samples
return self._calc_mean(z_sorted[middle-1:middle+1])
def _log_params(self, switch_offset, nozzle_site, switch_site, bed_site):
logging.info("Z-CALIBRATION: switch_offset=%.3f,"
" offset_margins=%.3f,%.3f, speed=%.3f,"
" samples=%i, tolerance=%.3f, retries=%i,"
" samples_result=%s, lift_speed=%.3f,"
" safe_z_height=%.3f, probing_speed=%.3f,"
" second_speed=%.3f, retract_dist=%.3f,"
" position_min=%.3f, probe_nozzle_x=%.3f,"
" probe_nozzle_y=%.3f, probe_switch_x=%.3f,"
" probe_switch_y=%.3f, probe_bed_x=%.3f,"
" probe_bed_y=%.3f"
% (switch_offset, self.offset_margins[0],
self.offset_margins[1], self.speed,
self.samples, self.tolerance, self.retries,
self.samples_result, self.lift_speed,
self.safe_z_height, self.probing_speed,
self.second_speed, self.retract_dist,
self.position_min, nozzle_site[0], nozzle_site[1],
switch_site[0], switch_site[1], bed_site[0],
bed_site[1]))
def _log_params(self, gcmd, switch_offset, nozzle_site, switch_site,
bed_site):
logging.info("%s: switch_offset=%.3f, offset_margins=%.3f,%.3f,"
" speed=%.3f, samples=%i, tolerance=%.3f, retries=%i,"
" samples_result=%s, lift_speed=%.3f, safe_z_height=%.3f,"
" probing_speed=%.3f, second_speed=%.3f,"
" retract_dist=%.3f, position_min=%.3f,"
" probe_nozzle_x=%.3f, probe_nozzle_y=%.3f,"
" probe_switch_x=%.3f, probe_switch_y=%.3f,"
" probe_bed_x=%.3f, probe_bed_y=%.3f"
% (gcmd.get_command(), switch_offset,
self.offset_margins[0], self.offset_margins[1],
self.speed, self.samples, self.tolerance,
self.retries, self.samples_result, self.lift_speed,
self.safe_z_height, self.probing_speed,
self.second_speed, self.retract_dist,
self.position_min, nozzle_site[0], nozzle_site[1],
switch_site[0], switch_site[1], bed_site[0],
bed_site[1]))
class EndstopWrapper:
def __init__(self, endstop):
self.mcu_endstop = endstop
Expand Down Expand Up @@ -411,17 +418,17 @@ def _probe_on_site(self, endstop, site, check_probe=False, split_xy=False,
# check if probe is attached and switch is closed
time = self.toolhead.get_last_move_time()
if self.probe.mcu_probe.query_endstop(time):
raise self.gcmd.error("Probe switch not closed - Probe not"
" attached?")
raise self.gcmd.error("%s: probe switch not closed - probe not"
" attached?" % (self.gcmd.get_command()))
if self.helper.first_fast:
# first probe just to get down faster
self.helper._probe(endstop, self.helper.position_min,
self.helper._probe(self.gcmd, endstop, self.helper.position_min,
self.helper.probing_speed, wiggle=wiggle)
retries = 0
positions = []
while len(positions) < self.helper.samples:
# probe with second probing speed
curpos = self.helper._probe(endstop,
curpos = self.helper._probe(self.gcmd, endstop,
self.helper.position_min,
self.helper.second_speed,
wiggle=wiggle)
Expand All @@ -430,9 +437,11 @@ def _probe_on_site(self, endstop, site, check_probe=False, split_xy=False,
z_positions = [p[2] for p in positions]
if max(z_positions) - min(z_positions) > self.helper.tolerance:
if retries >= self.helper.retries:
raise self.gcmd.error("Probe samples exceed tolerance")
self.gcmd.respond_info("Probe samples exceed tolerance."
" Retrying...")
raise self.gcmd.error("%s: probe samples exceed tolerance"
% (self.gcmd.get_command()))
self.gcmd.respond_info("%s: probe samples exceed tolerance."
" Retrying..."
% (self.gcmd.get_command()))
retries += 1
positions = []
# calculate result
Expand Down Expand Up @@ -498,28 +507,37 @@ def calibrate_z(self, switch_offset, nozzle_site, switch_site, bed_site):
# calculate the offset
offset = probe_zero - (switch_zero - nozzle_zero + switch_offset)
# print result
self.gcmd.respond_info("Z-CALIBRATION: probe=%.3f - (switch=%.3f"
self.gcmd.respond_info("%s: bed_probe=%.3f - (switch=%.3f"
" - nozzle=%.3f + switch_offset=%.3f) -->"
" new offset=%.6f"
% (probe_zero, switch_zero, nozzle_zero,
switch_offset, offset))
self.gcmd.respond_info("HINT: z position_endstop=%.3f -"
" offset=%.6f --> possible z"
" position_endstop=%.3f"
% (self.helper.position_z_endstop, offset,
self.helper.position_z_endstop - offset))
" new_offset=%.6f"
% (self.gcmd.get_command(), probe_zero,
switch_zero, nozzle_zero, switch_offset,
offset))
if abs(offset) > 0.2:
pos_z_estop = self.helper.position_z_endstop
new_pos_z_estop = pos_z_estop - offset
self.gcmd.respond_info("%s: current z position_endstop=%.3f -"
" new offset=%.6f --> possible"
" suggestion: new z"
" position_endstop=%.3f"
% (self.gcmd.get_command(),
pos_z_estop, offset,
new_pos_z_estop))
# check offset margins
# TODO: remove: max_deviation is deprecated
if (self.max_deviation is not None
and abs(offset) > self.max_deviation):
raise self.gcmd.error("Offset is greater than allowed:"
raise self.gcmd.error("%s: offset is greater than allowed:"
" offset=%.3f > max_deviation=%.3f"
% (offset, self.max_deviation))
% (self.gcmd.get_command(), offset,
self.max_deviation))
elif (offset < self.offset_margins[0]
or offset > self.offset_margins[1]):
raise self.gcmd.error("Offset %.3f is outside the configured"
" range of min=%.3f and max=%.3f"
% (offset, self.offset_margins[0],
raise self.gcmd.error("%s: offset %.3f is outside the"
" configured range of min=%.3f and"
" max=%.3f"
% (self.gcmd.get_command(), offset,
self.offset_margins[0],
self.offset_margins[1]))
# set new offset
self._set_new_gcode_offset(offset)
Expand Down

0 comments on commit d3a48e4

Please sign in to comment.