bed_level: support inversion and fix screws_rotation of 3/6 screws (#1335)
* bed_level: major rework deprecate screw positions, we will be auto-detecting from now on support rotating the layout (previously only rotated the button actions) invert support, inverting axis in KS will invert the layout * move: mark bed_level to reinit after invert * bed_level: rotate with a shift function * bed_level: rotation show popup if misconfigured * bed_level: message for screw configurations not supportted in a more informative way * docs: update bed_level docs
This commit is contained in:
Alfredo Monclus
GitHub
parent
6f28f39f0e
commit
f22f7574b3
@ -78,14 +78,6 @@ moonraker_port: 7125
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# calibrate_x_position: 100
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# calibrate_y_position: 100
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# Bed Screws
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# define the screw positons required for odd number of screws in a comma separated list (CSV)
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# possible values are: bl, br, bm, fl, fr, fm, lm, rm, center
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# they correspond to back-left, back-right, back-middle, front-left, front-right, front-middle, left-middle, right-middle
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# example:
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# screw_positions: bl, br, fm
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# Rotation is useful if the screen is not directly in front of the machine.
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# It will affect the bed mesh visualization.
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# Valid values are 0 90 180 270
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@ -20,24 +20,33 @@ and reports the amount to be adjusted into the labels of the corner buttons.
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### Why `[bed_screws]` are ignored/not used?
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Because if the probe offset is changed or the difference between `[bed_screws]` and `[screws_tilt_adjust]` wasn't calculated correctly,
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the "Screws adjust" button stops working.
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`[screws_tilt_adjust]` positions with offset will be used over `[bed_screws]`, because if the probe offset is changed or
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the difference between `[bed_screws]` and `[screws_tilt_adjust]` wasn't calculated correctly,
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the "Screws adjust" button stops working correctly.
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### Why the probe offset is applied to `[screws_tilt_adjust]`?
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Because the corner buttons in KlipperScreen should place the nozzle above the screw to do the ["paper test"](https://www.klipper3d.org/Bed_Level.html?h=paper#the-paper-test). It doesn't affect the function of `SCREWS_TILT_CALCULATE`, which will go to the defined positions.
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Because the corner buttons in KlipperScreen should place the nozzle above the screw to do the ["paper test"](https://www.klipper3d.org/Bed_Level.html?h=paper#the-paper-test).
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It doesn't affect the function of `SCREWS_TILT_CALCULATE`, which will go to the defined positions.
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## Not supported for auto-detection
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## Is `BED_SCREWS_ADJUST` supported?
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This message will appear if you are using 3 or 5 screws and didn't define them in KlipperScreen.conf.
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See "screw_positions" in the [printer options](https://klipperscreen.readthedocs.io/en/latest/Configuration/#printer-options)
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No, but you can achieve the same thing by using the corner buttons and going in a circle pattern adjusting until desired.
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`BED_SCREWS_ADJUST` is just a helper that moves to the screws in sequence
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## Limitations
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The panel doesn't support more than 9 screws. if there is a center screw define the positions to avoid issues.
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See "screw_positions" in the [printer options](https://klipperscreen.readthedocs.io/en/latest/Configuration/#printer-options)
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The panel doesn't support more than 9 screws or grids bigger than 3x3.
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## Rotation
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The layout can be rotated if the screen is not directly in front of the machine.
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in the printer configuration you would add screw_rotation: 90
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Valid values are 0 90 180 270
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## Inversion
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The layout will be inverted if an axis is inverted in the move panel
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## Is there an alternative?
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@ -13,7 +13,7 @@ from ks_includes.screen_panel import ScreenPanel
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# but return None if the distance is above max_distance.
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# If remove is set to true, the screw is also removed
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# from the list of passed in screws.
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def find_closest(screws, point, max_distance, remove=False):
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def find_closest(screws, point, max_distance):
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if len(screws) == 0:
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return None
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closest = screws[0]
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@ -26,9 +26,7 @@ def find_closest(screws, point, max_distance, remove=False):
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if min_distance > max_distance:
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return None
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if remove:
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screws.remove(closest)
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screws.remove(closest)
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return closest
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@ -36,19 +34,18 @@ class Panel(ScreenPanel):
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def __init__(self, screen, title):
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super().__init__(screen, title)
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self.screw_dict = {}
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self.screw_positions = {}
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self.screws = []
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self.y_cnt = 0
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self.x_cnt = 0
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self.x_offset = 0
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self.y_offset = 0
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self.buttons = {'dm': self._gtk.Button("motor-off", _("Disable Motors"), "color3")}
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self.buttons['dm'].connect("clicked", self.disable_motors)
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rotation = None
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rotation = 0
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self.probe_z_height = 0
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self.lift_speed = 5
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self.horizontal_move_z = 5
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self.horizontal_speed = 50
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invert_x = invert_y = False
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grid = Gtk.Grid(row_homogeneous=True, column_homogeneous=True)
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grid.attach(self.buttons['dm'], 0, 0, 1, 1)
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@ -82,39 +79,22 @@ class Panel(ScreenPanel):
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self.screws = self._get_screws("bed_screws")
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logging.info(f"bed_screws: {self.screws}")
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nscrews = len(self.screws)
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# KS config
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valid_positions = True
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valid_screws = ["bl", "fl", "fr", "br", "bm", "fm", "lm", "rm", "center"]
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if self.ks_printer_cfg is not None:
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screw_positions = self.ks_printer_cfg.get("screw_positions", "")
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if screw_positions:
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screw_positions = [str(i.strip()) for i in screw_positions.split(',')]
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logging.info(f"Positions: {screw_positions}")
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for screw in screw_positions:
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if screw not in valid_screws:
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logging.error(f"Unknown screw: {screw}")
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self._screen.show_popup_message(_("Unknown screw position") + f": {screw}")
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valid_positions = False
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if not (3 <= len(screw_positions) <= 9):
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valid_positions = False
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else:
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if nscrews in (3, 5, 7):
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valid_positions = False
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screw_positions = valid_screws
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rotation = self.ks_printer_cfg.getint("screw_rotation", 0)
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if rotation not in (0, 90, 180, 270):
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self._screen.show_popup_message(_("Rotation invalid") + f" {rotation} \n")
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logging.info(f"Rotation invalid: {rotation}")
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rotation = 0
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logging.info(f"Rotation: {rotation}")
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else:
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if nscrews in (3, 5, 7):
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valid_positions = False
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screw_positions = valid_screws
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invert_x = self._config.get_config()['main'].getboolean("invert_x", False)
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invert_y = self._config.get_config()['main'].getboolean("invert_y", False)
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logging.info(f"Inversion X: {invert_x} Y: {invert_y}")
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# get dimensions
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x_positions = {x[0] for x in self.screws}
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y_positions = {y[1] for y in self.screws}
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logging.info(f"X: {x_positions}\nY: {y_positions}")
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self.x_cnt = len(x_positions)
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self.y_cnt = len(y_positions)
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min_x = min(x_positions)
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max_x = max(x_positions)
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@ -124,32 +104,49 @@ class Panel(ScreenPanel):
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max_y = max(y_positions)
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mid_y = round((min_y + max_y) / 2)
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max_distance = math.ceil(
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math.hypot(max_x - min_x, max_y - min_y)
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/ min(self.x_cnt, self.y_cnt, 3)
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)
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max_distance = math.floor(min(max_x - min_x, max_y - min_y) / 3)
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logging.debug(f"Using max_distance: {max_distance} to fit: {len(self.screws)} screws.")
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remaining_screws = self.screws[:]
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fl = find_closest(remaining_screws, (min_x, min_y), max_distance, remove="fl" in screw_positions)
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bl = find_closest(remaining_screws, (min_x, max_y), max_distance, remove="bl" in screw_positions)
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br = find_closest(remaining_screws, (max_x, max_y), max_distance, remove="br" in screw_positions)
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fr = find_closest(remaining_screws, (max_x, min_y), max_distance, remove="fr" in screw_positions)
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# The order here it's important because the rotation function will
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# shift the values according to the angle of rotation
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self.screw_positions = {
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'bl': find_closest(remaining_screws, (min_x, max_y), max_distance),
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'fm': find_closest(remaining_screws, (mid_x, min_y), max_distance),
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'br': find_closest(remaining_screws, (max_x, max_y), max_distance),
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'lm': find_closest(remaining_screws, (min_x, mid_y), max_distance),
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'fr': find_closest(remaining_screws, (max_x, min_y), max_distance),
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'bm': find_closest(remaining_screws, (mid_x, max_y), max_distance),
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'fl': find_closest(remaining_screws, (min_x, min_y), max_distance),
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'rm': find_closest(remaining_screws, (max_x, mid_y), max_distance),
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}
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fm = find_closest(remaining_screws, (mid_x, min_y), max_distance, remove="fm" in screw_positions)
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bm = find_closest(remaining_screws, (mid_x, max_y), max_distance, remove="bm" in screw_positions)
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if invert_x and invert_y:
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rotation = (rotation + 180) % 360
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invert_x = invert_y = False
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if rotation != 0:
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self.screw_positions = self.map_rotation(self.screw_positions, rotation)
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logging.info(f"Rotated: {rotation}")
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if invert_x or invert_y:
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self.screw_positions = self.map_invert(self.screw_positions, invert_x, invert_y)
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lm = find_closest(remaining_screws, (min_x, mid_y), max_distance, remove="lm" in screw_positions)
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rm = find_closest(remaining_screws, (max_x, mid_y), max_distance, remove="rm" in screw_positions)
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center = find_closest(remaining_screws, (mid_x, mid_y), max_distance, remove="center" in screw_positions)
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self.screw_positions['center'] = find_closest(remaining_screws, (mid_x, mid_y), max_distance)
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if len(remaining_screws) != 0:
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found = []
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for pos in self.screw_positions:
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if self.screw_positions[pos]:
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found.append(pos)
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logging.debug(f"Found: {found}")
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logging.debug(f"Screws not used: {remaining_screws}")
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self._screen.show_popup_message(f"Screws not used: {remaining_screws} \n"
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f"It's possible that the configuration is not correct", 2)
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if len(self.screws) > 9:
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error_msg = _("This panel supports up-to 9 screws in a 3x3 Grid")
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else:
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error_msg = _("It's possible that the configuration is not correct")
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self._screen.show_popup_message(_("Screws not used:") + f" {remaining_screws} \n" +
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error_msg, 2)
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logging.debug(f"Using {len(self.screws) - len(remaining_screws)}/{len(self.screws)}-screw locations")
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@ -165,138 +162,77 @@ class Panel(ScreenPanel):
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self.buttons['bm'] = self._gtk.Button("bed-level-t-m", scale=button_scale)
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self.buttons['center'] = self._gtk.Button("bed-level-center", scale=button_scale)
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screw_layout_map = {
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'fr': [3, 2, 1, 1],
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'fm': [2, 2, 1, 1],
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'fl': [1, 2, 1, 1],
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'rm': [3, 1, 1, 1],
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'br': [3, 0, 1, 1],
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'bm': [2, 0, 1, 1],
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'bl': [1, 0, 1, 1],
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'lm': [1, 1, 1, 1],
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'center': [2, 1, 1, 1],
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}
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bedgrid = Gtk.Grid()
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for pos in screw_layout_map:
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bedgrid.attach(self.buttons[pos], *screw_layout_map[pos])
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self.buttons[pos].set_no_show_all(True)
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if pos in self.screw_positions and self.screw_positions[pos]:
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self.buttons[pos].show()
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if valid_positions:
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if "bl" in screw_positions and bl:
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bedgrid.attach(self.buttons['bl'], 1, 0, 1, 1)
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if "fl" in screw_positions and fl:
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bedgrid.attach(self.buttons['fl'], 1, 2, 1, 1)
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if "fr" in screw_positions and fr:
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bedgrid.attach(self.buttons['fr'], 3, 2, 1, 1)
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if "br" in screw_positions and br:
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bedgrid.attach(self.buttons['br'], 3, 0, 1, 1)
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if "bm" in screw_positions and bm:
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bedgrid.attach(self.buttons['bm'], 2, 0, 1, 1)
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if "fm" in screw_positions and fm:
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bedgrid.attach(self.buttons['fm'], 2, 2, 1, 1)
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if "lm" in screw_positions and lm:
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bedgrid.attach(self.buttons['lm'], 1, 1, 1, 1)
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if "rm" in screw_positions and rm:
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bedgrid.attach(self.buttons['rm'], 3, 1, 1, 1)
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if "center" in screw_positions and center:
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bedgrid.attach(self.buttons['center'], 2, 1, 1, 1)
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self.buttons['center'].connect("clicked", self.go_to_position, center)
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else:
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label = Gtk.Label(wrap=True, wrap_mode=Pango.WrapMode.WORD_CHAR)
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label.set_text(
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_("Bed screw configuration:") + f" {nscrews}\n\n"
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+ _("Not supported for auto-detection, it needs to be configured in klipperscreen.conf")
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)
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grid.attach(label, 1, 0, 3, 2)
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self.content.add(grid)
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return
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for layout_pos in self.screw_positions:
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self.buttons[layout_pos].connect("clicked", self.go_to_position, self.screw_positions[layout_pos])
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if rotation == 90:
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# fl lm bl
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# fm bm
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# fr rm br
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self.buttons['bl'].connect("clicked", self.go_to_position, fl)
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self.buttons['bm'].connect("clicked", self.go_to_position, lm)
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self.buttons['br'].connect("clicked", self.go_to_position, bl)
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self.buttons['rm'].connect("clicked", self.go_to_position, bm)
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self.buttons['fr'].connect("clicked", self.go_to_position, br)
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self.buttons['fm'].connect("clicked", self.go_to_position, rm)
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self.buttons['fl'].connect("clicked", self.go_to_position, fr)
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self.buttons['lm'].connect("clicked", self.go_to_position, fm)
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self.screw_dict = {
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'bl': fl,
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'bm': lm,
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'br': bl,
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'rm': bm,
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'fr': br,
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'fm': rm,
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'fl': fr,
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'lm': fm
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}
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elif rotation == 180:
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# fr fm fl
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# rm lm
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# br bm bl
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self.buttons['bl'].connect("clicked", self.go_to_position, fr)
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self.buttons['bm'].connect("clicked", self.go_to_position, fm)
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self.buttons['br'].connect("clicked", self.go_to_position, fl)
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self.buttons['rm'].connect("clicked", self.go_to_position, lm)
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self.buttons['fr'].connect("clicked", self.go_to_position, bl)
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self.buttons['fm'].connect("clicked", self.go_to_position, bm)
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self.buttons['fl'].connect("clicked", self.go_to_position, br)
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self.buttons['lm'].connect("clicked", self.go_to_position, rm)
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self.screw_dict = {
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'bl': fr,
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'bm': fm,
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'br': fl,
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'rm': lm,
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'fr': bl,
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'fm': bm,
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'fl': br,
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'lm': rm
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}
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elif rotation == 270:
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# br rm fr
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# bm fm
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# bl lm fl
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self.buttons['bl'].connect("clicked", self.go_to_position, br)
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self.buttons['bm'].connect("clicked", self.go_to_position, rm)
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self.buttons['br'].connect("clicked", self.go_to_position, fr)
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self.buttons['rm'].connect("clicked", self.go_to_position, fm)
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self.buttons['fr'].connect("clicked", self.go_to_position, fl)
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self.buttons['fm'].connect("clicked", self.go_to_position, lm)
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self.buttons['fl'].connect("clicked", self.go_to_position, bl)
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self.buttons['lm'].connect("clicked", self.go_to_position, bm)
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self.screw_dict = {
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'bl': br,
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'bm': rm,
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'br': fr,
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'rm': fm,
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'fr': fl,
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'fm': lm,
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'fl': bl,
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'lm': bm
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}
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else:
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# bl bm br
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# lm rm
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# fl fm fr
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self.buttons['bl'].connect("clicked", self.go_to_position, bl)
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self.buttons['bm'].connect("clicked", self.go_to_position, bm)
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self.buttons['br'].connect("clicked", self.go_to_position, br)
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self.buttons['rm'].connect("clicked", self.go_to_position, rm)
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self.buttons['fr'].connect("clicked", self.go_to_position, fr)
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self.buttons['fm'].connect("clicked", self.go_to_position, fm)
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self.buttons['fl'].connect("clicked", self.go_to_position, fl)
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self.buttons['lm'].connect("clicked", self.go_to_position, lm)
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self.screw_dict = {
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'bl': bl,
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'bm': bm,
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'br': br,
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'rm': rm,
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'fr': fr,
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'fm': fm,
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'fl': fl,
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'lm': lm
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}
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self.screw_dict['center'] = center
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remove_list = []
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for screw in self.screw_dict:
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if screw not in screw_positions:
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for screw in self.screw_positions:
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if self.screw_positions[screw] is None:
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remove_list.append(screw)
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for screw in remove_list:
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self.screw_dict.pop(screw)
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self.screw_positions.pop(screw)
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logging.info(f"screw_positions: {self.screw_positions}")
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grid.attach(bedgrid, 1, 0, 3, 2)
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self.content.add(grid)
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@staticmethod
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def map_invert(positions, invert_x, invert_y):
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if invert_x:
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return {
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'fr': positions['fl'],
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'fm': positions['fm'],
|
||||
'fl': positions['fr'],
|
||||
'rm': positions['lm'],
|
||||
'bl': positions['br'],
|
||||
'bm': positions['bm'],
|
||||
'br': positions['bl'],
|
||||
'lm': positions['rm']
|
||||
}
|
||||
if invert_y:
|
||||
return {
|
||||
'fr': positions['br'],
|
||||
'fm': positions['bm'],
|
||||
'fl': positions['bl'],
|
||||
'rm': positions['rm'],
|
||||
'bl': positions['fl'],
|
||||
'bm': positions['fm'],
|
||||
'br': positions['fr'],
|
||||
'lm': positions['lm']
|
||||
}
|
||||
return positions
|
||||
|
||||
@staticmethod
|
||||
def map_rotation(positions, angle):
|
||||
angle %= 360
|
||||
shift = (angle // 90) * 2
|
||||
rotated_positions = {}
|
||||
keys = list(positions.keys())
|
||||
for i, key in enumerate(keys):
|
||||
new_key = keys[(i + shift) % len(keys)]
|
||||
rotated_positions[new_key] = positions[key]
|
||||
return rotated_positions
|
||||
|
||||
def home(self):
|
||||
# Test if all axes have been homed. Home if necessary.
|
||||
if self._printer.get_stat("toolhead", "homed_axes") != "xyz":
|
||||
@ -344,7 +280,7 @@ class Panel(ScreenPanel):
|
||||
x, y = section[screw].split(',')
|
||||
x = float(x) + self.x_offset
|
||||
y = float(y) + self.y_offset
|
||||
for key, value in self.screw_dict.items():
|
||||
for key, value in self.screw_positions.items():
|
||||
if value and x == value[0] and y == value[1]:
|
||||
logging.debug(f"X: {x} Y: {y} Adjust: {result['adjust']} Pos: {key}")
|
||||
if result['is_base']:
|
||||
|
||||
@ -121,8 +121,10 @@ class Panel(ScreenPanel):
|
||||
max_z_velocity = max_velocity
|
||||
|
||||
configurable_options = [
|
||||
{"invert_x": {"section": "main", "name": _("Invert X"), "type": "binary", "value": "False"}},
|
||||
{"invert_y": {"section": "main", "name": _("Invert Y"), "type": "binary", "value": "False"}},
|
||||
{"invert_x": {"section": "main", "name": _("Invert X"), "type": "binary", "value": "False",
|
||||
"callback": self.reinit_screw_panel}},
|
||||
{"invert_y": {"section": "main", "name": _("Invert Y"), "type": "binary", "value": "False",
|
||||
"callback": self.reinit_screw_panel}},
|
||||
{"invert_z": {"section": "main", "name": _("Invert Z"), "type": "binary", "value": "False"}},
|
||||
{"move_speed_xy": {
|
||||
"section": "main", "name": _("XY Speed (mm/s)"), "type": "scale", "value": "50",
|
||||
@ -140,6 +142,10 @@ class Panel(ScreenPanel):
|
||||
name = list(option)[0]
|
||||
self.options.update(self.add_option('options', self.settings, name, option[name]))
|
||||
|
||||
def reinit_screw_panel(self, value):
|
||||
logging.info(self._screen.panels)
|
||||
self._screen.panels_reinit.append("bed_level")
|
||||
|
||||
def process_update(self, action, data):
|
||||
if action != "notify_status_update":
|
||||
return
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user