STEAPP-851: Made changes to the auto-calibration algorithm in the configuration of the 750th printer

HTE750-0-0-23.cfg

@@ -35,18 +35,22 @@ path: /home/ste/uploads
 [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]
+# sections probe
+[include stereotech_config/750/calibrate/probe_750.cfg]
+[include stereotech_config/750/calibrate/probe_v3.cfg]
+[include stereotech_config/calibrate/probe_3d.cfg]
+[include stereotech_config/calibrate/probe_5d.cfg]
+[include stereotech_config/calibrate/probe_5d_tool.cfg]
+[include stereotech_config/calibrate/probe_5d_template.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_probe_a_horizontal: 301, 328, 57
-# variable_probe_a_vertical: 301, 328, 107
-variable_probe_a_vertical: 301, 328, 57
+variable_probe_a_horizontal: 303, 329, 57
+variable_probe_a_vertical: 303, 325, 55
 variable_offsets_sensor: -60, -6, 29.0
 variable_extruder_load_length: 210
 variable_extruder1_load_length: 1650

stereotech_config/750/calibrate/probe_750.cfg

@@ -0,0 +1,93 @@
+[probe]
+pin: !manta_mcu:probe_pin
+samples: 4
+samples_tolerance_retries: 1
+samples_result: median
+lift_speed: 10.0
+x_offset: 0.0
+y_offset: 0.0
+z_offset: 0.0
+
+[bed_mesh]
+speed: 120
+horizontal_move_z: 180
+mesh_min: 120, 10
+mesh_max: 480, 530
+probe_count: 6, 6
+fade_start: 1
+fade_end: 10
+fade_target: 0
+algorithm: bicubic
+mesh_pps: 1, 1
+
+[bed_mesh module_3d]
+version = 1
+points =
+         0.0, 0.0, 0.0, 0.0, 0.0, 0.0
+         0.0, 0.0, 0.0, 0.0, 0.0, 0.0
+         0.0, 0.0, 0.0, 0.0, 0.0, 0.0
+         0.0, 0.0, 0.0, 0.0, 0.0, 0.0
+         0.0, 0.0, 0.0, 0.0, 0.0, 0.0
+         0.0, 0.0, 0.0, 0.0, 0.0, 0.0
+x_count = 6
+y_count = 6
+mesh_x_pps = 1
+mesh_y_pps = 1
+algo = bicubic
+tension = 0.2
+min_x = 120.0
+max_x = 480.0
+min_y = 10.0
+max_y = 530.0
+
+[skew_correction]
+
+[b_axis_compensation]
+
+[c_axis_align]
+
+[auto_wcs]
+
+[skew_correction module_3d]
+xy_skew = 0.0
+xz_skew = 0.0
+yz_skew = 0.0
+
+[skew_correction module_5d]
+xy_skew = 0.0
+xz_skew = 0.0
+yz_skew = 0.0
+
+[gcode_macro TEST_PROBE]
+gcode:
+    QUERY_PROBE
+    UPDATE_DELAYED_GCODE ID=test_probe_loop DURATION=1.0
+
+[gcode_macro CANCEL_TEST_PROBE]
+gcode:
+    UPDATE_DELAYED_GCODE ID=test_probe_loop DURATION=0.0
+    {action_respond_info('Abort check loop')}
+
+[delayed_gcode test_probe_loop]
+gcode:
+    {% if printer["probe"].last_query %}
+        UPDATE_DELAYED_GCODE ID=test_probe_loop DURATION=0.0
+        {action_respond_info('Probe pressed, abort check loop')}
+    {% else %}
+        {action_respond_info('Probe not pressed')}
+        QUERY_PROBE
+        UPDATE_DELAYED_GCODE ID=test_probe_loop DURATION=1.0
+    {% endif %}
+
+[gcode_macro AUTO_WCS]
+gcode:
+    AUTO_WCS_OFFSET_V2
+
+[gcode_macro AUTO_BASEMENT_WCS]
+gcode:
+    AUTO_BASEMENT_WCS_V2 {rawparams}
+    MOVE_SERVICE_POSITION_HEAD PARKING=0
+
+[gcode_macro ADJUST_BASEMENT_WCS]
+gcode:
+    ; pass

stereotech_config/750/calibrate/probe_v3.cfg

@@ -0,0 +1,151 @@
+[gcode_macro AUTO_WCS_OFFSET_V2]
+description: macro do move for measuring and calculated WCS. Sensor DAC_v_2
+gcode:
+    {% if printer["gcode_button five_axis_module"].state == "PRESSED" %}
+        ; get wcs3_z
+        PROBE_TEMPLATE_POINT POINT=A_Z
+        SET_POINT MACRO=SAVE_WCS_CALC_POINT POINT=0
+        ; get wcs3_y
+        PROBE_TEMPLATE_POINT POINT=B_MY_A0_C30
+        SET_POINT MACRO=SAVE_WCS_CALC_POINT POINT=7
+        PROBE_TEMPLATE_POINT POINT=B_Y_A0_C30
+        SET_POINT MACRO=SAVE_WCS_CALC_POINT POINT=1
+        ; get wcs3_x
+        PROBE_TEMPLATE_POINT POINT=C_X
+        SET_POINT MACRO=SAVE_WCS_CALC_POINT POINT=2
+        PROBE_TEMPLATE_POINT POINT=D_MX
+        SET_POINT MACRO=SAVE_WCS_CALC_POINT POINT=3
+        # get wcs4_z
+        PROBE_TEMPLATE_POINT POINT=A_Z_A90
+        SET_POINT MACRO=SAVE_WCS_CALC_POINT POINT=4
+        # get wcs4_y
+        PROBE_TEMPLATE_POINT POINT=B_Y_A90_C60
+        SET_POINT MACRO=SAVE_WCS_CALC_POINT POINT=5
+        PROBE_TEMPLATE_POINT POINT=B_MY_A90_C60
+        SET_POINT MACRO=SAVE_WCS_CALC_POINT POINT=6
+        # get wcs4_x
+        PROBE_TEMPLATE_POINT POINT=B_MX_A90_C60
+        SET_POINT MACRO=SAVE_WCS_CALC_POINT POINT=8
+        PROBE_TEMPLATE_POINT POINT=B_X_A90_C60
+        SET_POINT MACRO=SAVE_WCS_CALC_POINT POINT=9
+        ; calculating start wcs coordinates
+        {% set template_thickness = printer.save_variables.variables.template_thickness|default(10.0)|float %}
+        {% set auto_wcs_adj = printer.save_variables.variables.auto_wcs_adj|default(0.0)|float %}
+        CALC_WCS_PARAMS THICKNESS={ template_thickness } ADJUSTMENT={ auto_wcs_adj } SENSOR_VERSION=1
+    {% endif %}
+
+[gcode_macro AUTO_BASEMENT_WCS_V2]
+description: macro do main moves for get wcs for SPIRAL and FULL modes.
+gcode:
+    RESET_WCS
+    SET_GCODE_VARIABLE MACRO=CALC_TOOL_PARAMS VARIABLE=length VALUE=999.0
+    SET_GCODE_VARIABLE MACRO=CALC_TOOL_PARAMS VARIABLE=radius VALUE=999.0
+    {% set wcs = params.WCS|default(0)|int %}
+    {% if wcs == 0 %}
+        MOVE_AUTOCALIBRATE_FULL_V2
+    {% else %}
+        MOVE_AUTOCALIBRATE_SPIRAL_V2
+    {% endif %}
+    SET_GCODE_VARIABLE MACRO=CALC_TOOL_PARAMS VARIABLE=length VALUE=999.0
+    SET_GCODE_VARIABLE MACRO=CALC_TOOL_PARAMS VARIABLE=radius VALUE=999.0
+
+[gcode_macro MOVE_AUTOCALIBRATE_FULL_V2]
+description: macro do move for measuring and calculated WCS for FULL-SPIRAL mode. Sensor DAC_v_2
+gcode:
+    {% set max_z = printer.toolhead.axis_maximum[2]|float %}
+    ; set approximate radius, length and measuring the wcs_1_z
+    CALC_TOOL_PARAMS LENGTH=1 APPROXIMATE_RADIUS=1
+    ; checking and apply offset for axis A
+    ALIGN_A_AXIS_TOOL
+    ; move for measuring the wcs_2_y
+    PROBE_TOOL_POINT POINT=A_Y_A90
+    ADJUST_BASEMENT_WCS_V2 WCS=2
+    ; move for measuring the wcs_2_x
+    PROBE_TOOL_POINT POINT=A_X_A90
+    SET_POINT MACRO=SAVE_WCS_CALC_POINT POINT=0
+    PROBE_TOOL_POINT POINT=A_MX_A90
+    SET_POINT MACRO=SAVE_WCS_CALC_POINT POINT=1
+    CALC_WCS_TOOL WCS=2 AXIS=0 ADJUST=1
+    ; set radius and measuring the wcs_2_z
+    CALC_TOOL_PARAMS APPROXIMATE_RADIUS=1 RADIUS=1
+    ; move for measuring the wcs_1_x
+    PROBE_TOOL_POINT POINT=A_X
+    SET_POINT MACRO=SAVE_WCS_CALC_POINT POINT=0
+    PROBE_TOOL_POINT POINT=A_MX
+    SET_POINT MACRO=SAVE_WCS_CALC_POINT POINT=1
+    CALC_WCS_TOOL WCS=1 AXIS=0 ADJUST=1
+    ; move for measuring the wcs_1_y
+    PROBE_TOOL_POINT POINT=A_Y
+    SET_POINT MACRO=SAVE_WCS_CALC_POINT POINT=0
+    PROBE_TOOL_POINT POINT=A_MY
+    SET_POINT MACRO=SAVE_WCS_CALC_POINT POINT=1
+    CALC_WCS_TOOL WCS=1 AXIS=1 ADJUST=1
+    ; eccentricity correction
+    APPLY_ECCENTRICITY
+    ; check skew axis X
+    CHECK_SKEW_TOOL
+
+[gcode_macro MOVE_AUTOCALIBRATE_SPIRAL_V2]
+description: macro do move for measuring and calculated WCS for SPIRAL mode. Sensor DAC_v_2
+gcode:
+    {% set max_z = printer.toolhead.axis_maximum[2]|float %}
+    PROBE
+    G91
+    G1 Z25 F1500
+    G90
+    ; set the wcs_1_z and wcs_2_y
+    ADJUST_BASEMENT_WCS_V2 WCS=1
+    ; set approximate radius and length
+    CALC_TOOL_PARAMS LENGTH=1 APPROXIMATE_RADIUS=1 LEN_PROBE=0 APPROXIMATE_RADIUS_PROBE=0
+    ; move to calculate wcs by tool
+    MOVE_MEASURING_SPIRAL
+
+[gcode_macro MOVE_MEASURING_SPIRAL]
+description: This macro do move and calculate wcs for SPIRAL mode.
+gcode:
+    {% set radius = printer['gcode_macro CALC_TOOL_PARAMS'].radius|float %}
+    {% set tool_length = printer['gcode_macro CALC_TOOL_PARAMS'].length|float %}
+    {% if radius < 5.0 and tool_length > 35.0 %}
+        ; checking and apply offset for axis A
+        ALIGN_A_AXIS_TOOL
+        ; move for measuring the wcs_2_x
+        PROBE_TOOL_POINT POINT=A_X_A90
+        SET_POINT MACRO=SAVE_WCS_CALC_POINT POINT=0
+        PROBE_TOOL_POINT POINT=A_MX_A90
+        SET_POINT MACRO=SAVE_WCS_CALC_POINT POINT=1
+        CALC_WCS_TOOL WCS=2 AXIS=0 ADJUST=1
+        ; set precise radius and set the wcs_2_z
+        CALC_TOOL_PARAMS APPROXIMATE_RADIUS=1 RADIUS=1
+        ; check skew axes
+        CHECK_SKEW_TOOL
+    {% else %}
+        {action_respond_info("Radius greater than 5 mm or tool length less 35mm, movement to calculate wcs by tool is not available. Wcs will be calculated from the template.")}
+    {% endif %}
+
+[gcode_macro ADJUST_BASEMENT_WCS_V2]
+gcode:
+    {% set wcs = params.WCS|default(0)|int %}
+    {% set point = printer.probe.last_result %}
+    {% set offsets = printer.probe.offsets %}
+    {% set wcs_0 = printer.gcode_move.wcs_offsets[3] %}
+    {% set x = point[0] + offsets[0] - printer.gcode_move.homing_origin.x %}
+    {% set y = point[1] + offsets[1] - printer.gcode_move.homing_origin.y %}
+    {% set z = point[2] - offsets[2] - printer.gcode_move.homing_origin.z %}
+    {% 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.auto_wcs.probe_backlash_y|default(0.0)|float %}
+    {% set tool_length = printer['gcode_macro CALC_TOOL_PARAMS'].length|float %}
+    {% set radius = printer['gcode_macro CALC_TOOL_PARAMS'].radius %}
+    {% set auto_wcs_adj = printer.save_variables.variables["auto_wcs_adj"]|default(0.0)|float %}
+    {% if wcs == 0 %}
+        G10 L2 P2 Z{z + auto_wcs_adj}
+        G10 L2 P3 Y{old_y - (z - old_z)}
+    {% elif wcs == 1 %}
+        G10 L2 P3 Y{y}
+        G10 L2 P2 Z{old_z - (y - old_y)}
+    {% elif wcs == 2 %}
+        G10 L2 P3 Y{y + probe_backlash_y}
+    {%  elif wcs == 3 %}
+        G10 L2 P3 Z{z - radius + auto_wcs_adj}
+    {% endif %}

stereotech_config/750/homing_override.cfg

@@ -1,5 +1,5 @@
 [homing_override]
-rotate_a: true
+rotate_a: false
 axes:
 gcode:
     G28 Z

stereotech_config/HTE750-0-0-23.cfg

@@ -29,37 +29,30 @@ path: /home/ste/uploads
 [include config/common/extruder_macros.cfg]
 [include config/common/filament_control.cfg]
 [include config/common/filament_control_second.cfg]
-
-# sections probe
-# [include config/calibrate/probe_5-8-23.cfg]
-# [include config/calibrate/probe_3d.cfg]
-# [include config/calibrate/probe_5d.cfg]
-# [include config/calibrate/probe_5d_tool.cfg]
-# [include config/calibrate/probe_5d_template.cfg]
-# [include config/calibrate/probe_v2.cfg]
-# #     sections new probe need adapted its
-[include config/750/probe_main.cfg]
-[include config/750/probe_v3.cfg]
-
-# [include config/750/nozzle_offset.cfg]
-[include config/common/extruder_macros.cfg]
 # [include config/750/power_control.cfg]
 
 [include config/750/module_3d.cfg]
 [include config/750/module_3d_macros.cfg]
 [include config/750/module_5d.cfg]
 
+# sections probe
+[include config/750/calibrate/probe_750.cfg]
+[include config/750/calibrate/probe_v3.cfg]
+[include config/calibrate/probe_3d.cfg]
+[include config/calibrate/probe_5d.cfg]
+[include config/calibrate/probe_5d_tool.cfg]
+[include config/calibrate/probe_5d_template.cfg]
+
 [include config/750/print_macros.cfg]
 [include config/common/variables.cfg]
 # [include config/750/diagnostics.cfg]
 
 [gcode_macro CONSTANTS]
 description: Holds printer constants
-variable_probe_a_horizontal: 301, 328, 57
-# variable_probe_a_vertical: 301, 328, 107
-variable_probe_a_vertical: 301, 328, 57
+variable_probe_a_horizontal: 303, 329, 57
+variable_probe_a_vertical: 303, 325, 55
 variable_offsets_sensor: -60, -6, 29.0
-variable_extruder_load_length:  210
+variable_extruder_load_length: 210
 variable_extruder1_load_length: 1650
 # variable_path_to_model_nozzle_offset: '/home/ste/klipper/config/common/model_hybrid_nozzle_offset.gcode'
 gcode:

stereotech_config/calibrate/probe_3d.cfg

@@ -2,7 +2,11 @@
 description: 3D module calibration
 gcode:
     {% if printer["gcode_button five_axis_module"].state == "RELEASED" %}
-        G0 X197 Y195 F6000
+        {% set axis_max = printer.toolhead.axis_maximum %}
+        {% set offsets = printer.probe.offsets %}
+        {% set center_probe_x = (axis_max[0] / 2.0) - offsets[0] %}
+        {% set center_probe_y = (axis_max[1] / 2.0) - offsets[1] %}
+        G0 X{center_probe_x} Y{center_probe_y} F6000
         G0 Z40 F3600
         PROBE
         G91
@@ -12,7 +16,7 @@ gcode:
 	    G91
         G0 Z30 F3600
         G90
-	    G0 X150 Y50 F3600
+	    G0 X{center_probe_x + offsets[0]} Y50 F3600
     {% endif %}
 
 [gcode_macro MODULE_THREE_D_MESH_CALIBRATE]

stereotech_config/calibrate/probe_5d.cfg

@@ -33,7 +33,8 @@ gcode:
     {% set safe_distance_z = (probe_a_vertical[2] + 70 + offsets[2]) if a_deg == 'A90' else (probe_a_horizontal[2] + 20 + offsets[2]) %}
     {% set axis = ax[-1] %}
     {% set positive = 0 if (ax[0] == 'M' or ax[0] == 'Z') else 1 %}
-    {% if p == 'A' %}
+
+    {% if p == 'A' and target_a == 0.0 %}
         {% set target_y = target_y - 4 %}
     {% elif p == 'B' %}
         {% if target_a == 0.0 and target_c == 0.0 %}
@@ -53,11 +54,13 @@ gcode:
         {% set target_x = target_x + 50 %}
         {% set target_y = target_y - 4 %}
     {% endif %}
+
     {% if ax != 'Z' %}
         {% set target_z = target_z - 6 %}
     {% else %}
         {% set target_z = target_z + 20 %}
     {% endif %}
+
     {% if ax == 'X' %}
         {% set target_x = target_x - 20 %}
         {% set axis = 'X' %}