klipper update

klippy/extras/bed_tilt.py

@@ -0,0 +1,99 @@
+# Bed tilt compensation
+#
+# Copyright (C) 2018  Kevin O'Connor <kevin@koconnor.net>
+#
+# This file may be distributed under the terms of the GNU GPLv3 license.
+import logging
+import mathutil
+from . import probe
+
+class BedTilt:
+    def __init__(self, config):
+        self.printer = config.get_printer()
+        self.printer.register_event_handler("klippy:connect",
+                                            self.handle_connect)
+        self.x_adjust = config.getfloat('x_adjust', 0.)
+        self.y_adjust = config.getfloat('y_adjust', 0.)
+        self.z_adjust = config.getfloat('z_adjust', 0.)
+        if config.get('points', None) is not None:
+            BedTiltCalibrate(config, self)
+        self.toolhead = None
+        # Register move transform with g-code class
+        gcode_move = self.printer.load_object(config, 'gcode_move')
+        gcode_move.set_move_transform(self)
+    def handle_connect(self):
+        self.toolhead = self.printer.lookup_object('toolhead')
+    def get_position(self):
+        x, y, z, e = self.toolhead.get_position()
+        return [x, y, z - x*self.x_adjust - y*self.y_adjust - self.z_adjust, e]
+    def move(self, newpos, speed):
+        x, y, z, e = newpos
+        self.toolhead.move([x, y, z + x*self.x_adjust + y*self.y_adjust
+                            + self.z_adjust, e], speed)
+    def update_adjust(self, x_adjust, y_adjust, z_adjust):
+        self.x_adjust = x_adjust
+        self.y_adjust = y_adjust
+        self.z_adjust = z_adjust
+        gcode_move = self.printer.lookup_object('gcode_move')
+        gcode_move.reset_last_position()
+        configfile = self.printer.lookup_object('configfile')
+        configfile.set('bed_tilt', 'x_adjust', "%.6f" % (x_adjust,))
+        configfile.set('bed_tilt', 'y_adjust', "%.6f" % (y_adjust,))
+        configfile.set('bed_tilt', 'z_adjust', "%.6f" % (z_adjust,))
+
+# Helper script to calibrate the bed tilt
+class BedTiltCalibrate:
+    def __init__(self, config, bedtilt):
+        self.printer = config.get_printer()
+        self.bedtilt = bedtilt
+        self.probe_helper = probe.ProbePointsHelper(config, self.probe_finalize)
+        self.probe_helper.minimum_points(3)
+        # Register BED_TILT_CALIBRATE command
+        self.gcode = self.printer.lookup_object('gcode')
+        self.gcode.register_command(
+            'BED_TILT_CALIBRATE', self.cmd_BED_TILT_CALIBRATE,
+            desc=self.cmd_BED_TILT_CALIBRATE_help)
+    cmd_BED_TILT_CALIBRATE_help = "Bed tilt calibration script"
+    def cmd_BED_TILT_CALIBRATE(self, gcmd):
+        self.probe_helper.start_probe(gcmd)
+    def probe_finalize(self, offsets, positions):
+        # Setup for coordinate descent analysis
+        z_offset = offsets[2]
+        logging.info("Calculating bed_tilt with: %s", positions)
+        params = { 'x_adjust': self.bedtilt.x_adjust,
+                   'y_adjust': self.bedtilt.y_adjust,
+                   'z_adjust': z_offset }
+        logging.info("Initial bed_tilt parameters: %s", params)
+        # Perform coordinate descent
+        def adjusted_height(pos, params):
+            x, y, z = pos
+            return (z - x*params['x_adjust'] - y*params['y_adjust']
+                    - params['z_adjust'])
+        def errorfunc(params):
+            total_error = 0.
+            for pos in positions:
+                total_error += adjusted_height(pos, params)**2
+            return total_error
+        new_params = mathutil.coordinate_descent(
+            params.keys(), params, errorfunc)
+        # Update current bed_tilt calculations
+        x_adjust = new_params['x_adjust']
+        y_adjust = new_params['y_adjust']
+        z_adjust = (new_params['z_adjust'] - z_offset
+                    - x_adjust * offsets[0] - y_adjust * offsets[1])
+        self.bedtilt.update_adjust(x_adjust, y_adjust, z_adjust)
+        # Log and report results
+        logging.info("Calculated bed_tilt parameters: %s", new_params)
+        for pos in positions:
+            logging.info("orig: %s new: %s", adjusted_height(pos, params),
+                         adjusted_height(pos, new_params))
+        msg = "x_adjust: %.6f y_adjust: %.6f z_adjust: %.6f" % (
+            x_adjust, y_adjust, z_adjust)
+        self.printer.set_rollover_info("bed_tilt", "bed_tilt: %s" % (msg,))
+        self.gcode.respond_info(
+            "%s\nThe above parameters have been applied to the current\n"
+            "session. The SAVE_CONFIG command will update the printer\n"
+            "config file and restart the printer." % (msg,))
+
+def load_config(config):
+    return BedTilt(config)