diff --git a/config/example-delta.cfg b/config/example-delta.cfg
index 291916d37..1b577224c 100644
--- a/config/example-delta.cfg
+++ b/config/example-delta.cfg
@@ -129,3 +129,9 @@ radius: 50
# NEXT extended g-code command to record the position at that
# point. The default is false if a [probe] config section is present
# and true otherwise.
+#samples: 1
+# The number of times to probe each point. The probed z-values
+# will be averaged. The default is to probe 1 time.
+#sample_retract_dist: 2.0
+# The distance (in mm) to retract between each sample if
+# sampling more than once. Default is 2mm.
diff --git a/config/example-extras.cfg b/config/example-extras.cfg
index 67c750007..5413ee181 100644
--- a/config/example-extras.cfg
+++ b/config/example-extras.cfg
@@ -69,6 +69,12 @@
# NEXT extended g-code command to record the position at that
# point. The default is false if a [probe] config section is present
# and true otherwise.
+#samples: 1
+# The number of times to probe each point. The probed z-values
+# will be averaged. The default is to probe 1 time.
+#sample_retract_dist: 2.0
+# The distance (in mm) to retract between each sample if
+# sampling more than once. Default is 2mm.
# Mesh Bed Leveling. One may define a [bed_mesh] config section
@@ -82,6 +88,12 @@
#horizontal_move_z: 5
# The height (in mm) that the head should be commanded to move to
# just prior to starting a probe operation. The default is 5.
+#samples: 1
+# The number of times to probe each point. The probed z-values
+# will be averaged. The default is to probe 1 time.
+#sample_retract_dist: 2.0
+# The distance (in mm) to retract between each sample if
+# sampling more than once. Default is 2mm.
#min_point:
# An X,Y point defining the minimum coordinate to probe on
# the bed. Note that this refers to the nozzle position,
@@ -150,7 +162,12 @@
#horizontal_move_z: 5
# The height (in mm) that the head should be commanded to move to
# just prior to starting a probe operation. The default is 5.
-
+#samples: 1
+# The number of times to probe each point. The probed z-values
+# will be averaged. The default is to probe 1 time.
+#sample_retract_dist: 2.0
+# The distance (in mm) to retract between each sample if
+# sampling more than once. Default is 2mm.
# In a multi-extruder printer add an additional extruder section for
# each additional extruder. The additional extruder sections should be
diff --git a/klippy/extras/bed_mesh.py b/klippy/extras/bed_mesh.py
index 97a87ef9c..490148c12 100644
--- a/klippy/extras/bed_mesh.py
+++ b/klippy/extras/bed_mesh.py
@@ -245,9 +245,15 @@ class BedMeshCalibrate:
# create a 2-D array representing the probed z-positions.
self.probed_z_table = [
[0. for i in range(x_cnt)] for j in range(y_cnt)]
- # Extract probed z-positions from probed positions and add
- # them to organized list
- for i, pos in enumerate(positions):
+ # Check for multi-sampled points
+ z_table_len = x_cnt * y_cnt
+ if len(positions) % z_table_len:
+ raise self.gcode.error(
+ ("bed_mesh: Invalid probe table length:\n"
+ "Sampled table length: %d") % len(positions))
+ samples = len(positions) / z_table_len
+ # Populate the organized probed table
+ for i in range(z_table_len):
y_position = i / x_cnt
x_position = 0
if y_position & 1 == 0:
@@ -256,8 +262,11 @@ class BedMeshCalibrate:
else:
# Odd y count, x probed in the negative directon
x_position = (x_cnt - 1) - (i % x_cnt)
+ idx = i * samples
+ end = idx + samples
+ avg_z = sum(p[2] for p in positions[idx:end]) / samples
self.probed_z_table[y_position][x_position] = \
- pos[2] - z_offset
+ avg_z - z_offset
if self.build_map:
outdict = {'z_probe_offsets:': self.probed_z_table}
self.gcode.respond(json.dumps(outdict))
diff --git a/klippy/extras/probe.py b/klippy/extras/probe.py
index ac7300e6d..d775c1d6d 100644
--- a/klippy/extras/probe.py
+++ b/klippy/extras/probe.py
@@ -158,6 +158,9 @@ class ProbePointsHelper:
# Lookup probe object
self.probe = None
self.probe_offsets = (0., 0., 0.)
+ self.samples = config.getint('samples', 1, minval=1)
+ self.sample_retract_dist = config.getfloat(
+ 'sample_retract_dist', 2., above=0.)
manual_probe = config.getboolean('manual_probe', None)
if manual_probe is None:
manual_probe = not config.has_section('probe')
@@ -180,15 +183,26 @@ class ProbePointsHelper:
return self.probe.last_home_position()
else:
return None
- def lift_z(self, z_pos):
+ def lift_z(self, z_pos, add=False):
# Lift toolhead
curpos = self.toolhead.get_position()
- curpos[2] = z_pos
+ if add:
+ curpos[2] += z_pos
+ else:
+ curpos[2] = z_pos
try:
self.toolhead.move(curpos, self.lift_speed)
except homing.EndstopError as e:
self.finalize(False)
raise self.gcode.error(str(e))
+ def probe_point(self):
+ for i in range(self.samples):
+ self.gcode.run_script_from_command("PROBE")
+ self.toolhead.wait_moves()
+ self.results.append(self.callback.get_probed_position())
+ if i < self.samples - 1:
+ # retract
+ self.lift_z(self.sample_retract_dist, add=True)
def start_probe(self):
# Begin probing
self.toolhead = self.printer.lookup_object('toolhead')
@@ -205,13 +219,13 @@ class ProbePointsHelper:
if self.probe is not None:
try:
while self.busy:
- self.gcode.run_script_from_command("PROBE")
+ self.probe_point()
self.cmd_NEXT({})
except:
self.finalize(False)
raise
def move_next(self):
- x, y = self.probe_points[len(self.results)]
+ x, y = self.probe_points[len(self.results)/self.samples]
curpos = self.toolhead.get_position()
curpos[0] = x
curpos[1] = y
@@ -224,13 +238,14 @@ class ProbePointsHelper:
self.gcode.reset_last_position()
cmd_NEXT_help = "Move to the next XY position to probe"
def cmd_NEXT(self, params):
- # Record current position
- self.toolhead.wait_moves()
- self.results.append(self.callback.get_probed_position())
+ if self.probe is None:
+ # Record current position for manual probe
+ self.toolhead.wait_moves()
+ self.results.append(self.callback.get_probed_position())
# Lift toolhead
self.lift_z(self.horizontal_move_z)
# Move to next position
- if len(self.results) == len(self.probe_points):
+ if len(self.results) / self.samples == len(self.probe_points):
self.toolhead.get_last_move_time()
self.finalize(True)
return