zcalibrate: rewrite the functions that get the location to probe due to reported issues
thanks Aubey
This commit is contained in:
alfrix
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01193c203c
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f58cdcb31a
@ -8,22 +8,37 @@ It's strongly suggested to read Klipper documentation about [Bed level](https://
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## Buttons
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* "Start" will initiate the only method available, or ask the user if multiple methods are available.
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!!! note
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KlipperScreen will home if needed and move to the middle of the bed,
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but the location can be configured in [KlipperScreen.conf](https://klipperscreen.readthedocs.io/en/latest/Configuration/#printer-options)
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KlipperScreen will automatically Home(`G28`) if needed
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* The raise(+) and lower(-) buttons send `TESTZ Z=distance` where distance is selected in the bottom row.
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* Accept will send `ACCEPT`
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* Abort will send `ABORT`
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## Calibration methods
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### Endstop (`Z_ENDSTOP_CALIBRATE`)
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Available when a physical endstop is defined for `[stepper_z]`
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See Klipper documentation: [Calibrating a Z endstop](https://www.klipper3d.org/Manual_Level.html#calibrating-a-z-endstop)
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## Calibration methods
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### Probe (`PROBE_CALIBRATE`)
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Available when a probe is defined. (BL-Touch is a probe)
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See Klipper documentation: [Calibrating probe Z offset](https://www.klipper3d.org/Probe_Calibrate.html#calibrating-probe-z-offset)
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KlipperScreen will try to position the probe in the correct place before sendind a `PROBE_CALIBRATE`
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??? info "Search order to select location"
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1. `calibrate_x_position` and `calibrate_y_position` in [KlipperScreen.conf](https://klipperscreen.readthedocs.io/en/latest/Configuration/#printer-options)
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Both need to be configured, probe offsets are not applied. This is considered an override
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2. Probe at the [zero reference position of the mesh](https://www.klipper3d.org/Bed_Mesh.html#configuring-the-zero-reference-position)
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3. If `[safe_z_home]` is defined, those values are used. Unless `Z_ENDSTOP_CALIBRATE` is available.
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In other words, only use `[safe_z_home]` if `z_virtual_endstop` is used
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4. If the kinematics are `delta` probe is placed at 0, 0
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5. Probe at the center of the `bed_mesh`
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6. Probe at the center of the axes (`position_max` / 2)
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Klipper documentation: [Calibrating probe Z offset](https://www.klipper3d.org/Probe_Calibrate.html#calibrating-probe-z-offset)
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### Endstop (`Z_ENDSTOP_CALIBRATE`)
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Available when a physical endstop is defined for `[stepper_z]`
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Klipper documentation: [Calibrating a Z endstop](https://www.klipper3d.org/Manual_Level.html#calibrating-a-z-endstop)
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### Bed mesh (`BED_MESH_CALIBRATE`)
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Available when a probe is not defined and `[bed_mesh]` is defined
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@ -38,7 +53,4 @@ this mode lets you create a mesh leveling bed using the paper test in various po
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### Delta Automatic/Manual (`DELTA_CALIBRATE`)
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Available when the kinematics are defined as delta.
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See Klipper documentation: [Delta calibration](https://www.klipper3d.org/Delta_Calibrate.html)
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!!! note
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KlipperScreen will automatically Home(`G28`) if needed
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Klipper documentation: [Delta calibration](https://www.klipper3d.org/Delta_Calibrate.html)
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@ -13,21 +13,35 @@ 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.z_offset = None
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self.mesh_min = []
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self.mesh_max = []
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self.zero_ref = []
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self.z_hop_speed = 15.0
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self.z_hop = 5.0
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self.probe = self._printer.get_probe()
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if self.probe:
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self.x_offset = float(self.probe['x_offset']) if "x_offset" in self.probe else 0.0
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self.y_offset = float(self.probe['y_offset']) if "y_offset" in self.probe else 0.0
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self.z_offset = float(self.probe['z_offset'])
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logging.info(f"Z offset: {self.z_offset}")
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if "sample_retract_dist" in self.probe:
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self.z_hop = float(self.probe['sample_retract_dist'])
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if "speed" in self.probe:
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self.z_hop_speed = float(self.probe['speed'])
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else:
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self.x_offset = 0.0
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self.y_offset = 0.0
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self.z_offset = 0.0
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logging.info(f"Offset X:{self.x_offset} Y:{self.y_offset} Z:{self.z_offset}")
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self.widgets['zposition'] = Gtk.Label(label="Z: ?")
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self.widgets['zoffset'] = Gtk.Label(label="?")
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pos = Gtk.Grid(row_homogeneous=True, column_homogeneous=True)
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pos.attach(self.widgets['zposition'], 0, 1, 2, 1)
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if self.z_offset is not None:
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self.widgets['zoffset'] = Gtk.Label(label="?")
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pos.attach(Gtk.Label(_("Probe Offset") + ": "), 0, 2, 2, 1)
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pos.attach(Gtk.Label(_("Saved")), 0, 3, 1, 1)
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pos.attach(Gtk.Label(_("New")), 1, 3, 1, 1)
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pos.attach(Gtk.Label(f"{self.z_offset:.3f}"), 0, 4, 1, 1)
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if self.probe:
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pos.attach(Gtk.Label(label=_("Probe Offset") + ": "), 0, 2, 2, 1)
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pos.attach(Gtk.Label(label=_("Saved")), 0, 3, 1, 1)
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pos.attach(Gtk.Label(label=_("New")), 1, 3, 1, 1)
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pos.attach(Gtk.Label(label=f"{self.z_offset:.3f}"), 0, 4, 1, 1)
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pos.attach(self.widgets['zoffset'], 1, 4, 1, 1)
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self.buttons = {
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'zpos': self._gtk.Button('z-farther', _("Raise Nozzle"), 'color4'),
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@ -41,36 +55,9 @@ class Panel(ScreenPanel):
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self.buttons['complete'].connect("clicked", self.accept)
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self.buttons['cancel'].connect("clicked", self.abort)
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functions = []
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pobox = Gtk.Box(orientation=Gtk.Orientation.VERTICAL)
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if "Z_ENDSTOP_CALIBRATE" in self._printer.available_commands:
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self._add_button("Endstop", "endstop", pobox)
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functions.append("endstop")
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if "PROBE_CALIBRATE" in self._printer.available_commands:
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self._add_button("Probe", "probe", pobox)
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functions.append("probe")
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if "BED_MESH_CALIBRATE" in self._printer.available_commands and "probe" not in functions:
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# This is used to do a manual bed mesh if there is no probe
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self._add_button("Bed mesh", "mesh", pobox)
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functions.append("mesh")
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if "DELTA_CALIBRATE" in self._printer.available_commands:
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if "probe" in functions:
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self._add_button("Delta Automatic", "delta", pobox)
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functions.append("delta")
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# Since probes may not be accturate enough for deltas, always show the manual method
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self._add_button("Delta Manual", "delta_manual", pobox)
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functions.append("delta_manual")
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logging.info(f"Available functions for calibration: {functions}")
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self.labels['popover'] = Gtk.Popover(position=Gtk.PositionType.BOTTOM)
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self.labels['popover'].add(pobox)
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if len(functions) > 1:
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self.buttons['start'].connect("clicked", self.on_popover_clicked)
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else:
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self.buttons['start'].connect("clicked", self.start_calibration, functions[0])
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self.set_functions()
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distgrid = Gtk.Grid()
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for j, i in enumerate(self.distances):
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@ -107,6 +94,45 @@ class Panel(ScreenPanel):
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grid.attach(distances, 0, 2, 3, 1)
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self.content.add(grid)
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def set_functions(self):
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functions = []
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pobox = Gtk.Box(orientation=Gtk.Orientation.VERTICAL)
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if "Z_ENDSTOP_CALIBRATE" in self._printer.available_commands:
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self._add_button("Endstop", "endstop", pobox)
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functions.append("endstop")
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if "PROBE_CALIBRATE" in self._printer.available_commands:
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self._add_button("Probe", "probe", pobox)
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functions.append("probe")
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if "BED_MESH_CALIBRATE" in self._printer.available_commands:
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self.mesh_min = self._csv_to_array(self._printer.get_config_section("bed_mesh")['mesh_min'])
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self.mesh_max = self._csv_to_array(self._printer.get_config_section("bed_mesh")['mesh_max'])
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if 'zero_reference_position' in self._printer.get_config_section("bed_mesh"):
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self.zero_ref = self._csv_to_array(
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self._printer.get_config_section("bed_mesh")['zero_reference_position'])
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if "probe" not in functions:
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# This is used to do a manual bed mesh if there is no probe
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self._add_button("Bed mesh", "mesh", pobox)
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functions.append("mesh")
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if "DELTA_CALIBRATE" in self._printer.available_commands:
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if "probe" in functions:
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self._add_button("Delta Automatic", "delta", pobox)
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functions.append("delta")
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# Since probes may not be accturate enough for deltas, always show the manual method
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self._add_button("Delta Manual", "delta_manual", pobox)
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functions.append("delta_manual")
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self.labels['popover'].add(pobox)
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if len(functions) > 1:
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self.buttons['start'].connect("clicked", self.on_popover_clicked)
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else:
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self.buttons['start'].connect("clicked", self.start_calibration, functions[0])
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logging.info(f"Available functions for calibration: {functions}")
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@staticmethod
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def _csv_to_array(string):
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return [float(i.strip()) for i in string.split(',')]
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def _add_button(self, label, method, pobox):
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popover_button = self._gtk.Button(label=label)
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popover_button.connect("clicked", self.start_calibration, method)
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@ -127,7 +153,7 @@ class Panel(ScreenPanel):
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else:
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self._screen._ws.klippy.gcode_script("BED_MESH_CLEAR")
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if method == "probe":
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self._move_to_position()
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self._move_to_position(*self._get_probe_location())
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self._screen._ws.klippy.gcode_script("PROBE_CALIBRATE")
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elif method == "delta":
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self._screen._ws.klippy.gcode_script("DELTA_CALIBRATE")
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@ -136,79 +162,61 @@ class Panel(ScreenPanel):
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elif method == "endstop":
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self._screen._ws.klippy.gcode_script("Z_ENDSTOP_CALIBRATE")
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def _move_to_position(self):
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x_position = y_position = None
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z_hop = speed = None
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# Get position from config
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def _move_to_position(self, x, y):
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if not x or not y:
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self._screen.show_popup_message(_("Error: Couldn't get a position to probe"))
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return
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logging.info(f"Lifting Z: {self.z_hop}mm {self.z_hop_speed}mm/s")
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self._screen._ws.klippy.gcode_script(f"G91\nG0 Z{self.z_hop} F{self.z_hop_speed * 60}")
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logging.info(f"Moving to X:{x} Y:{y}")
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self._screen._ws.klippy.gcode_script(f'G90\nG0 X{x} Y{y} F3000')
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def _get_probe_location(self):
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if self.ks_printer_cfg is not None:
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x_position = self.ks_printer_cfg.getfloat("calibrate_x_position", None)
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y_position = self.ks_printer_cfg.getfloat("calibrate_y_position", None)
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x = self.ks_printer_cfg.getfloat("calibrate_x_position", None)
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y = self.ks_printer_cfg.getfloat("calibrate_y_position", None)
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if x and y:
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logging.debug(f"Using KS configured position: {x}, {y}")
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return x, y
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if self.probe:
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if "sample_retract_dist" in self.probe:
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z_hop = self.probe['sample_retract_dist']
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if "speed" in self.probe:
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speed = self.probe['speed']
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if self.zero_ref:
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logging.debug(f"Using zero reference position: {self.zero_ref}")
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return self.zero_ref[0] - self.x_offset, self.zero_ref[1] - self.y_offset
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# Use safe_z_home position
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if ("safe_z_home" in self._printer.get_config_section_list() and
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"Z_ENDSTOP_CALIBRATE" not in self._printer.available_commands):
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safe_z = self._printer.get_config_section("safe_z_home")
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safe_z_xy = safe_z['home_xy_position']
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safe_z_xy = [str(i.strip()) for i in safe_z_xy.split(',')]
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if x_position is None:
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x_position = float(safe_z_xy[0])
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logging.debug(f"Using safe_z x:{x_position}")
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if y_position is None:
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y_position = float(safe_z_xy[1])
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logging.debug(f"Using safe_z y:{y_position}")
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if 'z_hop' in safe_z:
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z_hop = safe_z['z_hop']
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if 'z_hop_speed' in safe_z:
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speed = safe_z['z_hop_speed']
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speed = 15 if speed is None else speed
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z_hop = 5 if z_hop is None else z_hop
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self._screen._ws.klippy.gcode_script(f"G91\nG0 Z{z_hop} F{float(speed) * 60}")
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if self._printer.get_stat("gcode_move", "absolute_coordinates"):
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self._screen._ws.klippy.gcode_script("G90")
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if x_position is not None and y_position is not None:
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logging.debug(f"Configured probing position X: {x_position} Y: {y_position}")
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self._screen._ws.klippy.gcode_script(f'G0 X{x_position} Y{y_position} F3000')
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elif "delta" in self._printer.get_config_section("printer")['kinematics']:
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return self._get_safe_z()
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if "delta" in self._printer.get_config_section("printer")['kinematics']:
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logging.info("Detected delta kinematics calibrating at 0,0")
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self._screen._ws.klippy.gcode_script('G0 X0 Y0 F3000')
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else:
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self._calculate_position()
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return 0 - self.x_offset, 0 - self.y_offset
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x, y = self._calculate_position()
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return x, y
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def _get_safe_z(self):
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safe_z = self._printer.get_config_section("safe_z_home")
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safe_z_xy = self._csv_to_array(safe_z['home_xy_position'])
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logging.debug(f"Using safe_z {safe_z_xy[0]}, {safe_z_xy[1]}")
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if 'z_hop' in safe_z:
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self.z_hop = float(safe_z['z_hop'])
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if 'z_hop_speed' in safe_z:
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self.z_hop_speed = float(safe_z['z_hop_speed'])
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return safe_z_xy[0], safe_z_xy[1]
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def _calculate_position(self):
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logging.debug("Position not configured, probing the middle of the bed")
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if self.mesh_max and self.mesh_min:
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mesh_mid_x = (self.mesh_min[0] + self.mesh_max[0]) / 2
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mesh_mid_y = (self.mesh_min[1] + self.mesh_max[1]) / 2
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logging.debug(f"Probe in the mesh center X:{mesh_mid_x} Y:{mesh_mid_y}")
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return mesh_mid_x - self.x_offset, mesh_mid_y - self.y_offset
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try:
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xmax = float(self._printer.get_config_section("stepper_x")['position_max'])
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ymax = float(self._printer.get_config_section("stepper_y")['position_max'])
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mid_x = float(self._printer.get_config_section("stepper_x")['position_max']) / 2
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mid_y = float(self._printer.get_config_section("stepper_y")['position_max']) / 2
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except KeyError:
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logging.error("Couldn't get max position from stepper_x and stepper_y")
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return
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x_position = xmax / 2
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y_position = ymax / 2
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logging.info(f"Center position X:{x_position} Y:{y_position}")
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# Find probe offset
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x_offset = y_offset = None
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if self.probe:
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if "x_offset" in self.probe:
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x_offset = float(self.probe['x_offset'])
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if "y_offset" in self.probe:
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y_offset = float(self.probe['y_offset'])
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logging.info(f"Offset X:{x_offset} Y:{y_offset}")
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if x_offset is not None:
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x_position = x_position - x_offset
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if y_offset is not None:
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y_position = y_position - y_offset
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logging.info(f"Moving to X:{x_position} Y:{y_position}")
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self._screen._ws.klippy.gcode_script(f'G0 X{x_position} Y{y_position} F3000')
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return None, None
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logging.debug(f"Probe in the center X:{mid_x} Y:{mid_y}")
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return mid_x - self.x_offset, mid_y - self.y_offset
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def activate(self):
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if self._printer.get_stat("manual_probe", "is_active"):
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@ -238,8 +246,7 @@ class Panel(ScreenPanel):
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def update_position(self, position):
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self.widgets['zposition'].set_text(f"Z: {position[2]:.3f}")
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if self.z_offset is not None:
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self.widgets['zoffset'].set_text(f"{abs(position[2] - self.z_offset):.3f}")
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self.widgets['zoffset'].set_text(f"{abs(position[2] - self.z_offset):.3f}")
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def change_distance(self, widget, distance):
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logging.info(f"### Distance {distance}")
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