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STEAPP-541: added load/save data about the sensor backlash. #134

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merged 4 commits into from
Jun 22, 2023
Merged

STEAPP-541: added load/save data about the sensor backlash. #134

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764f389
STEAPP-541: added load/save the sensor backlash. Added calculate back…
SokolovJek Jun 19, 2023
84ffc7b
STEAPP-541: added calculate backlash in to main logic
SokolovJek Jun 19, 2023
7dd9e8c
STEAPP-541: fixed bug in to apply radius for calculate wcs_2_z.
SokolovJek Jun 19, 2023
f35d32a
STEAPP-541: Removed unnecessary save radius and backlash sensor comma…
SokolovJek Jun 19, 2023
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20 changes: 17 additions & 3 deletions klippy/extras/auto_wcs.py
View file
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Original file line number Diff line number Diff line change
@@ -1,4 +1,5 @@
import math
import logging


RAD_TO_DEG = 57.295779513
Expand Down Expand Up @@ -42,6 +43,12 @@ def __init__(self, config):
self.gcode.register_command(
'SET_AUTO_WCS', self.cmd_SET_AUTO_WCS,
desc=self.cmd_CALC_WCS_PARAMS_help)
self.gcode.register_command(
'GET_RADIUS_TOOLING', self.cmd_GET_RADIUS_TOOLING,
desc=self.cmd_GET_RADIUS_TOOLING_help)
self.gcode.register_command(
'SET_PROBE_BACKLASH', self.cmd_SET_PROBE_BACKLASH,
desc=self.cmd_SET_PROBE_BACKLASH_help)

def _calc_wcs_old_sensor(self, thickness, adj, gcmd):
thickness = thickness / 2.0
Expand Down Expand Up @@ -136,7 +143,6 @@ def get_radius_1(self, gcmd):
gcmd.respond_info('radius_tooling_1= %s,(backlash_y and X) centr_tool(%s;%s)' % (
self.tooling_radius_1, px, py))
return px, py, r
cmd_GET_RADIUS_TOOLING_help = "command for get the tooling radius from measuring points."

def get_radius_2(self, gcmd):
# calculate radius whis probe_backlash_y_2
Expand Down Expand Up @@ -176,7 +182,6 @@ def cmd_SAVE_WCS_CALC_POINT(self, gcmd):

cmd_SAVE_WCS_CALC_POINT_help = "Save point for WCS calculation"


def cmd_CALC_WCS_PARAMS(self, gcmd):
#todo: get thickness default 10
thickness = gcmd.get_float('THICKNESS', 10.)
Expand All @@ -185,6 +190,7 @@ def cmd_CALC_WCS_PARAMS(self, gcmd):
if sensor_version:
x, y, z = self._calc_wcs_new_sensor(thickness, adjustment_coeff, gcmd)
x2, y2, z2 = self._calc_wcs_2_new_sensor(thickness, adjustment_coeff, gcmd)
self.calculate_probe_backlash(x, y, y2)
delta_y = y - y2
delta_z = z - z2
avg_delta = (delta_y + delta_z) / 2.0
Expand Down Expand Up @@ -218,7 +224,15 @@ def cmd_SET_AUTO_WCS(self, gcmd):
for axis, coord in enumerate(coords):
self.wcs[point_idx][axis] = coord

cmd_CALC_WCS_PARAMS_help = "Perform WCS calculation"
def cmd_SET_PROBE_BACKLASH(self, gcmd):
self.probe_backlash_x = gcmd.get_float('BACKLASH_X', self.probe_backlash_x)
self.probe_backlash_y = gcmd.get_float('BACKLASH_Y', self.probe_backlash_y)
self.probe_backlash_y_2 = gcmd.get_float('BACKLASH_Y_2', self.probe_backlash_y_2)
logging.info(
'Probe backlash is set:\nprobe_backlash_x=%f, probe_backlash_y=%f, probe_backlash_y_2=%f' % (
self.probe_backlash_x, self.probe_backlash_y, self.probe_backlash_y_2)
)
cmd_SET_PROBE_BACKLASH_help = "Set the sensor backlash for the current sensor."

def get_status(self, eventtime=None):
return {
Expand Down
23 changes: 1 addition & 22 deletions stereotech_config/probe.cfg
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -358,26 +358,6 @@ gcode:
MOVE_TO_AUTO_WCS
{% endif %}

[gcode_macro SAVE_PROBE_BACKLASH]
description: this macros save the sensor backlash.
gcode:
{% set probe_backlash_x = printer.auto_wcs.probe_backlash_x %}
{% set probe_backlash_y = printer.auto_wcs.probe_backlash_y %}
{% set probe_backlash_y_2 = printer.auto_wcs.probe_backlash_y_2 %}
SAVE_VARIABLE VARIABLE=probe_backlash_x VALUE={probe_backlash_x}
SAVE_VARIABLE VARIABLE=probe_backlash_y VALUE={probe_backlash_y}
SAVE_VARIABLE VARIABLE=probe_backlash_y_2 VALUE={probe_backlash_y_2}
{action_respond_info('save probe_backlash_x=%s' % probe_backlash_x)}
{action_respond_info('save probe_backlash_y=%s' % probe_backlash_y)}
{action_respond_info('save probe_backlash_y_2=%s' % probe_backlash_y_2)}

[gcode_macro SAVE_RADIUS_TOOL]
description: this macros save the radius tool.
gcode:
SAVE_VARIABLE VARIABLE=tooling_radius VALUE={printer.auto_wcs.tooling_radius}
SAVE_VARIABLE VARIABLE=tooling_radius_1 VALUE={printer.auto_wcs.tooling_radius_1}
SAVE_VARIABLE VARIABLE=tooling_radius_2 VALUE={printer.auto_wcs.tooling_radius_2}

[gcode_macro MOVE_TO_AUTO_WCS]
gcode:
{% set set_xy = params.XY|default(0) %}
Expand Down Expand Up @@ -540,7 +520,6 @@ gcode:
SET_AUTO_WCS_POINT_RADIUS POINT={i}
{% endfor %}
GET_RADIUS_TOOLING
SAVE_RADIUS_TOOL

[gcode_macro AUTO_BASEMENT_MOVE_MEASURE_RADIUS]
description: measuring radius for geting wcs_2_z.
Expand Down Expand Up @@ -609,7 +588,7 @@ gcode:
{% set old_z = wcs_0[2] %}
{% set old_y = wcs_1[1] %}
{% set probe_sensor_version = printer.save_variables.variables.probe_sensor_version|default(0)|int %}
{% set probe_backlash_y = printer.save_variables.variables.probe_backlash_y|default(0.0)|float %}
{% set probe_backlash_y = printer.auto_wcs.probe_backlash_y|default(0.0)|float %}
{% if wcs == 0 %}
; Mode SPIRAL-FULL
{% if probe_sensor_version %}
Expand Down
22 changes: 1 addition & 21 deletions stereotech_config/probe_2.cfg
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -330,25 +330,6 @@ gcode:
MOVE_TO_AUTO_WCS
{% endif %}

[gcode_macro SAVE_PROBE_BACKLASH]
description: this macros save the sensor backlash.
gcode:
{% set probe_backlash_x = printer.auto_wcs.probe_backlash_x %}
{% set probe_backlash_y = printer.auto_wcs.probe_backlash_y %}
{% set probe_backlash_y_2 = printer.auto_wcs.probe_backlash_y_2 %}
SAVE_VARIABLE VARIABLE=probe_backlash_x VALUE={probe_backlash_x}
SAVE_VARIABLE VARIABLE=probe_backlash_y VALUE={probe_backlash_y}
SAVE_VARIABLE VARIABLE=probe_backlash_y_2 VALUE={probe_backlash_y_2}
{action_respond_info('probe_backlash_x=%s' % probe_backlash_x)}
{action_respond_info('probe_backlash_y=%s' % probe_backlash_y)}
{action_respond_info('probe_backlash_y_2=%s' % probe_backlash_y_2)}

[gcode_macro SAVE_RADIUS_TOOL]
description: this macros save the radius tool.
gcode:
SAVE_VARIABLE VARIABLE=tooling_radius VALUE={printer.auto_wcs.tooling_radius}
SAVE_VARIABLE VARIABLE=tooling_radius_1 VALUE={printer.auto_wcs.tooling_radius_1}
SAVE_VARIABLE VARIABLE=tooling_radius_2 VALUE={printer.auto_wcs.tooling_radius_2}

[gcode_macro MOVE_TO_AUTO_WCS]
gcode:
Expand Down Expand Up @@ -506,7 +487,6 @@ gcode:
SET_AUTO_WCS_POINT_RADIUS POINT={i}
{% endfor %}
GET_RADIUS_TOOLING
SAVE_RADIUS_TOOL

[gcode_macro AUTO_BASEMENT_MOVE_MEASURE_RADIUS]
description: measuring radius for geting wcs_2_z.
Expand Down Expand Up @@ -574,7 +554,7 @@ gcode:
{% set wcs_1 = printer.gcode_move.wcs_offsets[4] %}
{% set old_z = wcs_0[2] %}
{% set old_y = wcs_1[1] %}
{% set probe_backlash_y = printer.save_variables.variables.probe_backlash_y|default(0.0)|float %}
{% set probe_backlash_y = printer.auto_wcs.probe_backlash_y|default(0.0)|float %}
{% if wcs == 0 %}
; Mode SPIRAL-FULL
; apply measuring for the set wcs_2_z radius.
Expand Down
5 changes: 5 additions & 0 deletions stereotech_config/variables.cfg
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -31,6 +31,7 @@ gcode:
SKEW_PROFILE CHANGE={key} XY={svv[key ~ '_xy_skew']} XZ={svv[key ~ '_xz_skew']} YZ={svv[key ~ '_yz_skew']}
{% endif %}
{% endfor %}
SET_PROBE_BACKLASH BACKLASH_X={svv.probe_backlash_x|default(0.0)|float} BACKLASH_Y={svv.probe_backlash_y|default(0.0)|float} BACKLASH_Y_2={svv.probe_backlash_y_2|default(0.0)|float}
{% endif %}
{% if printer["filament_motion_sensor extruder_sensor"] %}
SET_FILAMENT_SENSOR SENSOR=extruder_sensor ENABLE={svv['extruder_sensor']|default(1)}
Expand Down Expand Up @@ -72,4 +73,8 @@ gcode:
SAVE_VARIABLE VARIABLE=probe_offset_x VALUE={printer.probe.offsets[0]}
SAVE_VARIABLE VARIABLE=probe_offset_y VALUE={printer.probe.offsets[1]}
SAVE_VARIABLE VARIABLE=probe_offset_z VALUE={printer.probe.offsets[2]}

SAVE_VARIABLE VARIABLE=probe_backlash_x VALUE={printer.auto_wcs.probe_backlash_x}
SAVE_VARIABLE VARIABLE=probe_backlash_y VALUE={printer.auto_wcs.probe_backlash_y}
SAVE_VARIABLE VARIABLE=probe_backlash_y_2 VALUE={printer.auto_wcs.probe_backlash_y_2}
{% endif %}