Merge pull request #209 from stereotech/STEAPP-571

STEAPP-571, STEAPP-576, STEAPP-725, STEAPP-573: step4: Added servo and macros for change extruders for v750

.vscode/launch.json

@@ -52,6 +52,26 @@
                 // "-l",
                 // "/tmp/dev_klipper_log.log"
             ]
+        },
+        {
+            "name": "Run klipper 750",
+            "type": "python",
+            "request": "launch",
+            "env": {
+                "PYTHONPATH": "${workspaceRoot}"
+            },
+            "stopOnEntry": false,
+            "console": "integratedTerminal",
+            "cwd": "${workspaceRoot}",
+            "program": "${workspaceFolder}/klippy/klippy.py",
+            "args": [
+                "${workspaceFolder}/HTE750-0-0-23.cfg",
+                "-v",
+                "-a",
+                "/tmp/klipper_uds",
+                // "-l",
+                // "/tmp/dev_klipper_log.log"
+            ]
         }
     ]
 }

HTE530-5-4-22.cfg

@@ -35,13 +35,11 @@ path: /home/ste/uploads
 [include stereotech_config/common/variables.cfg]
 [include stereotech_config/common/diagnostics.cfg]
 
-[probe basic_distances]
-wcs_probe_1 = 159, 246.5, 120
-wcs_probe_2 = 159, 235, 120
-offsets_sensor = -42.3, -48.14, 0.0
-
 [gcode_macro CONSTANTS]
 description: Holds printer constants
+variable_wcs_probe_1: 159, 246.5, 40
+variable_wcs_probe_2: 159, 235, 85
+variable_offsets_sensor: -42.3, -48.14, 20.2
 variable_extruder_load_length: 130
 variable_extruder1_load_length: 1600
 variable_path_to_model_nozzle_offset: '/home/ste/klippy_dev/klipper/stereotech_config/common/model_hybrid_nozzle_offset.gcode'

HTE750-0-0-23.cfg

@@ -1,37 +1,52 @@
 [mcu]
-serial: /dev/ttyACM1
-# serial: /dev/serial/by-id/usb-Klipper_stm32f446xx_410046000451303431333234-if00
+serial: /dev/serial/by-id/usb-Klipper_stm32f446xx_1D002D001550535556323420-if00
 
-[mcu second_mcu]
-serial: /dev/ttyACM0
+[mcu manta_mcu]
+serial: /dev/serial/by-id/usb-Klipper_stm32g0b1xx_580023000A504B4633373520-if00
 
 [virtual_sdcard]
 path: /home/ste/uploads
 
 [display_status]
 
-[include stereotech_config/750/kinematics_none.cfg]
-# [include stereotech_config/750/board_stm32f4.cfg]
-# [include stereotech_config/750/board_stm32g1b0.cfg]
-# [include stereotech_config/750/kinematics.cfg]
-# [include stereotech_config/750/kinematics_tmc.cfg]
-# [include stereotech_config/750/chamber.cfg]
-# [include stereotech_config/750/printhead.cfg]
-# [include stereotech_config/750/main_extruder.cfg]
-# [include stereotech_config/750/second_extruder.cfg]
-# [include stereotech_config/750/fiber_extruder.cfg]
-# [include stereotech_config/750/filament_control_2.cfg]
-# [include stereotech_config/750/filament_control_second_2.cfg]
-# [include stereotech_config/750/module_3d.cfg]
-# [include stereotech_config/750/module_5d.cfg]
-# not defined
-# [include stereotech_config/750/homing.cfg]
-# [include stereotech_config/750/probe.cfg]
-# [include stereotech_config/750/probe_hybrid_printer.cfg]
-# [include stereotech_config/750/nozzle_offset.cfg]
-# [include stereotech_config/750/extruder_macros.cfg]
+[include stereotech_config/750/board_stm32f4.cfg]
+[include stereotech_config/750/board_stm32g1b0.cfg]
+
+[include stereotech_config/750/kinematics.cfg]
+[include stereotech_config/750/kinematics_tmc.cfg]
+[include stereotech_config/750/homing_override.cfg]
+[include stereotech_config/common/homing_macros.cfg]
+
+[include stereotech_config/750/chamber.cfg]
+
+[include stereotech_config/750/printhead.cfg]
+
+[include stereotech_config/750/main_extruder.cfg]
+[include stereotech_config/750/second_extruder.cfg]
+[include stereotech_config/750/fiber_extruder.cfg]
+[include stereotech_config/750/nozzle_offset.cfg]
+[include stereotech_config/common/extruder_macros.cfg]
+[include stereotech_config/common/filament_control.cfg]
+[include stereotech_config/common/filament_control_second.cfg]
 # [include stereotech_config/750/power_control.cfg]
-# [include stereotech_config/750/module_3d_macros.cfg]
-# [include stereotech_config/750/print_macros.cfg]
-# [include stereotech_config/750/variables.cfg]
+
+[include stereotech_config/750/module_3d.cfg]
+[include stereotech_config/750/module_3d_macros.cfg]
+[include stereotech_config/750/module_5d.cfg]
+
+[include stereotech_config/750/probe_main.cfg]
+[include stereotech_config/750/probe_v3.cfg]
+
+[include stereotech_config/750/print_macros.cfg]
+[include stereotech_config/common/variables.cfg]
 # [include stereotech_config/750/diagnostics.cfg]
+
+[gcode_macro CONSTANTS]
+description: Holds printer constants
+variable_wcs_probe_1: 294, 327, 57
+variable_wcs_probe_2: 294, 327, 107
+variable_offsets_sensor: -60, -6, 29.0
+variable_extruder_load_length: 210
+variable_extruder1_load_length: 1650
+# variable_path_to_model_nozzle_offset: '/home/ste/klipper/stereotech_config/common/model_hybrid_nozzle_offset.gcode'
+gcode:

klippy/extras/auto_wcs.py

@@ -92,11 +92,15 @@ def _calc_wcs_2_new_sensor(self, len_thickness):
         thickness = len_thickness / 2.
         x = (self.point_coords[8][0] + self.point_coords[9][0]) / 2.
         y = (self.point_coords[5][1] + self.point_coords[6][1]) / 2. - thickness
-        z = self.point_coords[4][2] - len_thickness
+        z = self.point_coords[4][2] - 10
         return x, y, z
 
     def calculate_probe_backlash(self, x1, y1, y2):
-        self.probe_backlash_x = abs(self.point_coords[3][0] - (x1 + 55))
+        # distance between points
+        distance = 55
+        if abs(self.point_coords[3][0] - x1) < 10:
+            distance = 5
+        self.probe_backlash_x = abs(self.point_coords[3][0] - (x1 + distance))
         self.probe_backlash_y = abs(self.point_coords[5][1] - y2)
         self.probe_backlash_y_2 = abs(self.point_coords[1][1] - (y1 - 5))
         logging.info("""Probe backlash is set:\nprobe_backlash_x=%f,

klippy/extras/probe.py

@@ -20,20 +20,14 @@ def __init__(self, config, mcu_probe):
         self.mcu_probe = mcu_probe
         self.speed = config.getfloat('speed', 5.0, above=0.)
         self.lift_speed = config.getfloat('lift_speed', self.speed, above=0.)
-        # load section for get basic distances
-        basic_distances = config.getsection('probe basic_distances')
-        # get the template center points
-        self.wcs_probe_1 = basic_distances.getlists(
-            'wcs_probe_1', seps=',', parser=float)
-        self.wcs_probe_2 = basic_distances.getlists(
-            'wcs_probe_2', seps=',', parser=float)
+        # load section for get the basic distances
+        basic_distances = config.getsection('gcode_macro CONSTANTS')
         # get the offset between sensor_probe and nozzle
         offsets = basic_distances.getlists(
-            'offsets_sensor', seps=',', parser=float)
+            'variable_offsets_sensor', seps=',', parser=float)
         self.x_offset = offsets[0]
         self.y_offset = offsets[1]
         self.z_offset = offsets[2]
-
         self.probe_calibrate_z = 0.
         self.multi_probe_pending = False
         self.last_state = False
@@ -225,9 +219,7 @@ def cmd_QUERY_PROBE(self, gcmd):
     def get_status(self, eventtime):
         return {'last_query': self.last_state,
                 'last_result': self.last_result,
-                'offsets': self.get_offsets(),
-                'wcs_probe_1': self.wcs_probe_1,
-                'wcs_probe_2': self.wcs_probe_2,
+                'offsets': self.get_offsets()
                 }
     cmd_PROBE_ACCURACY_help = "Probe Z-height accuracy at current XY position"
     def cmd_PROBE_ACCURACY(self, gcmd):
@@ -340,10 +332,10 @@ class ProbeEndstopWrapper:
     def __init__(self, config):
         self.printer = config.get_printer()
         # load section for get basic distances
-        basic_distances = config.getsection('probe basic_distances')
+        basic_distances = config.getsection('gcode_macro CONSTANTS')
         # get the offset between sensor_probe and nozzle
         offsets = basic_distances.getlists(
-            'offsets_sensor', seps=',', parser=float)
+            'variable_offsets_sensor', seps=',', parser=float)
         self.position_endstop =  offsets[2]
         self.stow_on_each_sample = config.getboolean(
             'deactivate_on_each_sample', True)

stereotech_config/5xx/module_5d.cfg

@@ -13,35 +13,26 @@ gcode:
 [a_axis_offset]
 
 [gcode_macro MOVE_WCS_ZERO]
+description: The macro for manual calibration of the 5_d module using the tool, makes movements to determine the points wcs_1 and wcs_2
 gcode:
-    G54
-    {% if printer.toolhead.axis_maximum[0] > 250 %}
-        G0 Z150 F6000
-    {% else %}
-        G0 Z100 F6000
-    {% endif %}
     {% set current_wcs = params.WCS|default(1)|int %}
     {% set offsets = printer.gcode_move.wcs_offsets[current_wcs] %}
-    {% if offsets[0] == 0 and offsets[1] == 0 %}
-        {% if printer.toolhead.axis_maximum[0] > 250 %}
-            G0 X162 Y242 F6000
-        {% else %}
-            G0 X107 Y137 F6000
-        {% endif %}
-    {% else %}
-        G0 X{offsets[0]} Y{offsets[1]} F6000
-    {% endif %}
-    {% if current_wcs == 1 %}
-        G0 A0
-    {% elif current_wcs == 2 %}
-        {% if printer.toolhead.axis_maximum[0] > 250 %}
-            G0 Y192 A90 F6000
-        {% else %}
-            G0 Y87 A90 F6000
-        {% endif %}
+    {% set wcs_probe_1 = printer["gcode_macro CONSTANTS"].wcs_probe_1 %}
+    {% set wcs_probe_2 = printer["gcode_macro CONSTANTS"].wcs_probe_2 %}
+    {% set x = wcs_probe_1[0] if (offsets[0] == 0 and offsets[1] == 0) else offsets[0] %}
+    {% set y = wcs_probe_1[1] if (offsets[0] == 0 and offsets[1] == 0) else offsets[1] %}
+    {% set z = printer.toolhead.axis_maximum[0] / 2 %}
+    {% set a = 0 if current_wcs == 1 else 90 %}
+    G54
+    G0 Z{z} F3600
+    G0 X{x} Y{y} A{a} F3600
+    {% if current_wcs == 2 %}
+        {% set y = wcs_probe_2[1] - 45 %}
+        G0 Y{y} F3600
     {% endif %}
 
 [gcode_macro SET_WCS_OFFSET]
+description: The macro for the set wcs after manual calibrate 5d module
 gcode:
     G54
     G90
@@ -75,25 +66,29 @@ gcode:
     G10 L2 P3 X{wcs4[0] - delta_x + params.X|float} Y{wcs4[1] + delta_z + params.Z|float} Z{wcs4[2] - delta_y + params.Y|float}
 
 [gcode_macro MOVE_CALIBRATION_POINT]
+description: movements for calibration of the 5d module
 gcode:
-    G54
     {% set point = params.POINT|default(0)|int %}
-    {% set x = 162 if printer.toolhead.axis_maximum[0] > 250 else 108  %}
-    {% set y = 242 if printer.toolhead.axis_maximum[0] > 250 else 137 %}
-    {% if point == 3 or point == 4 %}
-        {% set y = 192 if printer.toolhead.axis_maximum[0] > 250 else 87 %}
-    {% endif %}
+    {% set wcs_1 = printer["gcode_macro CONSTANTS"].wcs_probe_1 %}
+    {% set wcs_2 = printer["gcode_macro CONSTANTS"].wcs_probe_2 %}
+    {% set x = wcs_1[0] + 2 %}
+    {% set y = wcs_1[1] %}
+    {% set z = wcs_2[2] + 30 %}
+    {% set a = 0 %}
+    G54
     {% if point == 1 %}
-        {% set x = 112 if printer.toolhead.axis_maximum[0] > 250 else 58 %}
-    {% endif %}
-    {% if point == 2 %}
-        {% set x = 212 if printer.toolhead.axis_maximum[0] > 250 else 158 %}
-    {% endif %}
-    G0 A0
-    G0 X{x} Y{y} Z110 F3600
-    {% if point > 3 %}
-        G0 Z70 A90 F3600
+        {% set x = wcs_1[0] - 55 %}
+    {% elif point == 2 %}
+        {% set x = wcs_1[0] + 55 %}
+    {% elif point == 3 %}
+        {% set y = wcs_1[1] - 50 %}
+    {% elif point == 4 %}
+        {% set y = wcs_2[1] - 40 %}
+        G0 X{x} Y{y} Z{z} A{a} F3600
+        {% set z = wcs_2[2] - 15 %}
+        {% set a = 90 %}
     {% endif %}
+    G0 X{x} Y{y} Z{z} A{a} C0 F3600
 
 [gcode_macro SET_A_AXIS_OFFSET_POINT]
 gcode:

stereotech_config/750/board_stm32g1b0.cfg

@@ -7,7 +7,8 @@ aliases:
     e2_heater_pin=PB6, e2_sensor_pin=PA2,
     air_pump_pin=PC12, heater_bed_heater_pin=PE4, heater_bed_heater_pin1=PB8,
     chamber_heater_pin1=PB9,
-    chamber_led_pin=PB7, e_valve_pin=PE5, e1_valve_pin=PE6, cooling_valve_pin=PE0
+    chamber_led_pin=PB7, e_valve_pin=PE5, e1_valve_pin=PE6, cooling_valve_pin=PE0,
+    probe_pin=PB1
 
 [multi_pin heater_bed_heater]
 pins: manta_mcu:heater_bed_heater_pin, manta_mcu:heater_bed_heater_pin1

stereotech_config/750/chamber.cfg

@@ -21,6 +21,7 @@ heater_temp: 40
 #ONLY FOR DEBUG
 [verify_heater chamber_heater]
 check_gain_time: 1000
+
 [output_pin chamber_led]
 pin: manta_mcu:chamber_led_pin
 pwm: True

stereotech_config/750/fiber_extruder.cfg

@@ -10,9 +10,9 @@ heater_pin: manta_mcu:e2_heater_pin
 sensor_type: ATC Semitec 104GT-2#Trianglelab T-D500
 sensor_pin: manta_mcu:e2_sensor_pin
 control: pid
-pid_Kp: 8.683
-pid_Ki: 0.306
-pid_Kd: 61.541
+pid_Kp: 13.164
+pid_Ki: 0.516
+pid_Kd: 83.922
 min_temp: -150
 max_temp: 500
 max_extrude_only_distance: 300.0
@@ -28,13 +28,32 @@ variable_flow: 100.0
 variable_t2_offset_enabled: 0.0
 gcode:
     M117 set_extruder2
-    SET_GCODE_VARIABLE MACRO=T1 VARIABLE=t1_offset_enabled VALUE=1
-    SET_GCODE_OFFSET X_ADJUST={printer["gcode_macro SET_NOZZLE_OFFSET"].offset_x2|default(0.0)} Y_ADJUST={printer["gcode_macro SET_NOZZLE_OFFSET"].offset_y2|default(0.0)}
+    # reset nozzle offset for the extruder1
+    {% if printer["gcode_macro T1"].t1_offset_enabled > 0 %}
+        SET_GCODE_OFFSET X_ADJUST={0.0 - printer["gcode_macro SET_NOZZLE_OFFSET"].offset_x|default(0.0)} Y_ADJUST={0.0 - printer["gcode_macro SET_NOZZLE_OFFSET"].offset_y|default(0.0)} Z_ADJUST={0.0 - printer["gcode_macro SET_NOZZLE_OFFSET"].offset_z|default(0.0)}
+        SET_GCODE_VARIABLE MACRO=T1 VARIABLE=t1_offset_enabled VALUE=0
+    {% endif %}
+    # set nozzle offset if needed
+    {% if printer["gcode_macro T2"].t2_offset_enabled < 1 %}
+        SET_GCODE_OFFSET X_ADJUST={printer["gcode_macro SET_NOZZLE_OFFSET"].offset_x2|default(0.0)} Y_ADJUST={printer["gcode_macro SET_NOZZLE_OFFSET"].offset_y2|default(0.0)} Z_ADJUST={0.0 + printer["gcode_macro SET_NOZZLE_OFFSET"].offset_z2|default(0.0)}
+    {% endif %}
+    SET_GCODE_VARIABLE MACRO=T2 VARIABLE=t2_offset_enabled VALUE=1
     {% set current_wcs = printer.gcode_move.current_wcs %}
-    {% if "x" in printer.toolhead.homed_axes and "y" in printer.toolhead.homed_axes and "z" in printer.toolhead.homed_axes and printer.toolhead.extruder != 'extruder1' %}
+    {% if "xyz" in printer.toolhead.homed_axes and printer.toolhead.extruder != 'extruder2' %}
         G54
         MOVE_DOWN_Z_AXIS Z=5
-        G0 X10 Y2 F3600
+        {% if printer["servo tool_change_servo"] %}
+            # disabled current extruder if macro CHANGE_EXTRUDER1 exist
+            {% set current_ex = printer.toolhead.extruder %}
+            {% if printer["gcode_macro CHANGE_" ~ current_ex|upper] and printer["gcode_macro T1"].t1_offset_enabled > 0 %}
+                CHANGE_{current_ex|upper}
+                G4 P1500
+            {% endif %}
+            # enabled servo for extruder2
+            CHANGE_EXTRUDER2
+        {% else %}
+            G0 X10 Y2 F3600
+        {% endif %}
     {% endif %}
     SAVE_EXTRUDER_FLOW
     ACTIVATE_EXTRUDER extruder=extruder2
@@ -65,3 +84,14 @@ gcode:
         RESTORE_GCODE_STATE NAME=prime_fiber_state
         M400
     {% endif %}
+
+[gcode_macro CHANGE_EXTRUDER2]
+variable_coordinates_servo: 495, 490
+gcode:
+    {% set coordinates_servo = printer["gcode_macro CHANGE_EXTRUDER2"].coordinates_servo %}
+    G0 X{coordinates_servo[0]} Y{coordinates_servo[1]}
+    M400
+    SET_SERVO SERVO=tool_change_servo ANGLE=15
+    G4 P1500
+    SET_SERVO SERVO=tool_change_servo ANGLE=150
+    M400

stereotech_config/750/kinematics.cfg

@@ -57,15 +57,14 @@ homing_speed: 20
 
 [stepper_c]
 step_pin: c_step_pin
-dir_pin: c_dir_pin
+dir_pin: !c_dir_pin
 enable_pin: !c_en_pin
 microsteps: 128
 rotation_distance: 120
 gear_ratio: 7:1
-#can_home: false
-endstop_pin: !c_endstop_pin
-position_endstop: 0
-position_min: 0
-position_max: 120
+can_home: false
+# endstop_pin: !c_endstop_pin
+# position_endstop: 0
+# position_min: 0
+# position_max: 120
 homing_speed: 20
-