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auto_tap.py
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auto_tap.py
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# Automate calibrating Voron TAP probe offset
#
# Copyright (C) 2023 Anonoei <[email protected]>
#
# This file may be distributed under the terms of the MIT license.
from mcu import MCU_endstop
class TapVersion:
Name = "None"
Min = 0.0
Max = 9.0
Multiple = 2
Adder = 0
func = "_tap_rev_hop"
def Calculate(self, travel: float):
return (travel * self.Multiple) + self.Adder
class tap_DEV(TapVersion):
Name = "DEV"
Min = 0.0
Max = 9.0
Multiple = 2
Adder = 0
class tap_CL_CNC(TapVersion):
Name = "CL_CNC"
Min = 0.03
Max = 1.0
Multiple = 2
Adder = 0
class tap_R8(TapVersion):
Name = "R8"
Min = 0.7
Max = 2.0
Multiple = 10
Adder = 1
class tap_R6(TapVersion):
Name = "R6"
Min = 0.7
Max = 2.0
Multiple = 23
Adder = 0
class tap_VITALII_CNC(TapVersion):
Name = "VITALII_CNC"
Min = 0.5
Max = 1.5
Multiple = 21.5
Adder = 0
class tap_CUSTOM(TapVersion):
Name = "CUSTOM"
Min = 0.7
Max = 2.0
Multiple = 10
Adder = 1
class AutoTAP:
def __init__(self, config):
self.z_endstop = None
self.z_homing = None
self.config = config
self.printer = config.get_printer()
self.tap_choices = {
"DEV": tap_DEV,
"CL_CNC": tap_CL_CNC,
"R8": tap_R8,
"R6": tap_R6,
"VITALII_CNC": tap_VITALII_CNC,
"CUSTOM": tap_CUSTOM
}
self.tap_version = config.getchoice( 'tap_version', choices=self.tap_choices)
self.x = config.getfloat( 'x', default=None)
self.y = config.getfloat( 'y', default=None)
self.z = config.getfloat( 'z', default=10)
self.probe_to = config.getfloat( 'probe_to', default=-2, maxval=0.0)
self.set = config.getboolean('set', default=True)
self.settling_probe = config.getboolean('settling_probe', default=True)
self.stop = config.getfloat( 'stop', default=2.0, minval=0.0)
self.step = config.getfloat( 'step', default=0.005, minval=0.0)
self.samples = config.getint( 'samples', default=None, minval=1)
self.retract_dist = config.getfloat( 'retract', default=None, above=0.0)
self.probe_speed = config.getfloat( 'probe_speed', default=1.0, above=0.0)
self.lift_speed = config.getfloat( 'lift_speed', default=None, above=0.0)
self.travel_speed = config.getfloat( 'travel_speed', default=1000.0, above=0.0)
self.custom_min = config.getfloat( 'custom_min', default=0.7, minval=0.0)
self.custom_max = config.getfloat( 'custom_max', default=2.0, minval=0.0)
self.custom_multiple = config.getfloat( 'custom_multiple', default=10.0, minval=0.0)
self.custom_adder = config.getfloat( 'custom_adder', default=1.0, minval=0.0)
if self.tap_version.Name == 'CUSTOM':
self.tap_version.Min = self.custom_min
self.tap_version.Max = self.custom_max
self.tap_version.Multiple = self.custom_multiple
self.tap_version.Adder = self.custom_adder
self.offset = None
self.gcode_move = self.printer.load_object(config, 'gcode_move')
self.printer.register_event_handler("klippy:connect", self.handle_connect)
self.printer.register_event_handler("homing:home_rails_end", self.handle_home_rails_end)
self.gcode = self.printer.lookup_object('gcode')
self.gcode.register_command('AUTO_TAP',
self.cmd_AUTO_TAP,
desc=self.cmd_AUTO_TAP_help)
self.steppers = {}
def handle_connect(self):
for endstop, name in self.printer.load_object(self.config, 'query_endstops').endstops:
if name == 'z':
self.z_endstop = EndstopWrapper(self.config, endstop)
probe = self.printer.lookup_object('probe', default=None)
if probe is None:
raise self.printer.config_error("A probe is needed for %s"
% (self.config.get_name()))
self.config_z_offset = probe.z_offset
if self.samples is None:
self.samples = probe.sample_count
if self.lift_speed is None:
self.lift_speed = probe.lift_speed
def handle_home_rails_end(self, homing_state, rails):
if not len(self.steppers.keys()) == 3:
for rail in rails:
pos_min, pos_max = rail.get_range()
pos_center = (pos_max - pos_min)/2
for stepper in rail.get_steppers():
name = stepper._name
if name == "stepper_x":
self.steppers["x"] = [pos_min, pos_max, pos_center]
if self.x is None:
self.x = pos_center
elif name == "stepper_y":
self.steppers["y"] = [pos_min, pos_max, pos_center]
if self.y is None:
self.y = pos_center
elif name == "stepper_z":
self.z_homing = rail.position_endstop
if self.retract_dist is None:
self.retract_dist = rail.homing_retract_dist
self.steppers["z"] = [pos_min, pos_max, pos_center]
cmd_AUTO_TAP_help = ("Automatically calibrate Voron TAP's probe offset")
def cmd_AUTO_TAP(self, gcmd):
self.gcode.respond_info(f"current configured z_offset: {self.config_z_offset}")
self.printer.lookup_object('toolhead').wait_moves()
if len(self.steppers.keys()) < 3:
raise gcmd.error(f"Must home axes first. Found {len(self.steppers.keys())} homed axes.")
tap_version = gcmd.get('TAP_VERSION', default=self.tap_version)
x = gcmd.get_float("X", self.x)
y = gcmd.get_float("Y", self.y)
z = gcmd.get_float("Z", self.z)
probe_to = gcmd.get_float("PROBE_TO", self.probe_to)
set_at_end = gcmd.get_int("SET", default=self.set, minval=0, maxval=1)
settling_probe = gcmd.get_int("SETTLING_PROBE", default=self.settling_probe, minval=0, maxval=1)
stop = gcmd.get_float("STOP", default=self.stop, above=0.0)
step = gcmd.get_float("STEP", default=self.step, above=0.0)
sample_count = gcmd.get_int("SAMPLES", default=self.samples, minval=1)
retract = gcmd.get_float("RETRACT", default=self.retract_dist, above=0.0)
probe_speed = gcmd.get_float("PROBE_SPEED", default=self.probe_speed, above=0.0)
lift_speed = gcmd.get_float("LIFT_SPEED", default=self.lift_speed, above=0.0)
travel_speed = gcmd.get_float("TRAVEL_SPEED", default=self.travel_speed, above=0.0)
force = gcmd.get_int("FORCE", 0, minval=0, maxval=1)
if isinstance(tap_version, str):
if not tap_version in self.tap_choices.keys():
raise gcmd.error(f"TAP_VERSION must be one of {', '.join(self.tap_choices.keys())}")
tap_version = self.tap_choices[tap_version]
tap_version: TapVersion = tap_version()
if force == 0 and self.offset is not None:
self.gcode.respond_info(f"Auto TAP set z-offset on {tap_version.Name} tap to {self.offset:.3f}")
self._set_z_offset(self.offset)
return
if tap_version.Name == "DEV":
multiple = gcmd.get_float("DEV_MULTIPLE", default=tap_version.Multiple)
adder = gcmd.get_float("DEV_ADDER", default=tap_version.Adder)
function = gcmd.get("DEV_FUNC", default=tap_version.func)
tap_version.Multiple = multiple
tap_version.Adder = adder
tap_version.func = function
tap_func = getattr(self, tap_version.func)
if gcmd.get_int("PRINT_CONFIG", default=0, minval=0, maxval=1) == 1:
results = "AUTO TAP Configuration:\n"
results += f"TAP_VERSION: {tap_version.Name}\n"
results += f"| Min: {tap_version.Min}, Max: {tap_version.Max}\n"
results += f"| Multiple: {tap_version.Multiple}, Adder: {tap_version.Adder}\n"
results += f"| Func: {tap_version.func}\n"
results += f"Set: {set_at_end}, Settling probe: {settling_probe}\n"
results += f"XYZ: {x:.2f}, {y:.2f}, {z:.2f}\n"
results += f"Probe to: {probe_to}, Stop: {stop}, Step: {step}\n"
results += f"Speeds: Probe: {probe_speed}, Lift: {lift_speed}, Travel: {travel_speed}\n"
results += f"Force: {force}"
self.gcode.respond_info(results)
return
self._move([x, y, z], travel_speed) # Move to park position
self._set_z_offset(0.0) # set z-offset to 0
steps = []
probes = []
measures = []
travels = []
self.gcode.respond_info(f"Auto TAP performing {sample_count} samples to calculate z-offset on {tap_version.Name} tap using '{' '.join(tap_version.func[5:].split('_'))}' method\nProbe Min: {probe_to}, Stop: {stop}, Step: {step}")
self._home(False, False, True)
self._move([None, None, stop + retract], lift_speed)
if settling_probe:
self._probe(self.z_endstop.mcu_endstop, probe_to, probe_speed)
self._move([None, None, stop + retract], lift_speed)
while len(travels) < sample_count:
result = tap_func(step, stop, probe_to, probe_speed)
self._move([None, None, stop + retract], lift_speed)
if result is None:
raise gcmd.error(f"Failed to de-actuate z_endstop after full travel! Try changing STOP to a value larger than {stop}")
steps.append(result[0])
probes.append(result[1] - self.config_z_offset)
measures.append(result[2])
travels.append(result[3])
sample = f"Auto TAP sample {len(travels)}\n"
sample += f"Traveled: {travels[-1]:.4f} from z{probes[-1]:.4f} to {measures[-1]:.4f} on step {steps[-1]}"
self.gcode.respond_info(sample)
# Move to park position
self._move([None, None, z], lift_speed)
if len(travels) > 0:
probe_mean = self._calc_mean(probes)
probe_min = min(probes)
probe_max = max(probes)
measure_mean = self._calc_mean(measures)
measure_min = self._calc_mean(measures)
measure_max = self._calc_mean(measures)
travel_mean = self._calc_mean(travels)
travel_min = min(travels)
travel_max = max(travels)
offset = tap_version.Calculate(travel_mean) - probe_mean
results = f"Auto TAP Results on {tap_version.Name} using '{' '.join(tap_version.func[5:].split('_'))}' method\n"
results += f"Samples: {len(travels)}, Total Steps: {sum(steps)}\n"
results += f"Probe Mean: {probe_mean:.4f} / Min: {probe_min:.4f} / Max: {probe_max:.4f}\n"
results += f"Measure Mean: {measure_mean:.4f} / Min: {measure_min:.4f} / Max: {measure_max:.4f}\n"
results += f"Travel Mean: {travel_mean:.4f} / Min: {travel_min:.4f} / Max: {travel_max:.4f}\n"
results += f"Calculated z-offset: {offset:.3f}"
self.gcode.respond_info(results)
if offset < tap_version.Min or offset > tap_version.Max:
raise gcmd.error(f"Offset does not match expected result. Expected between {tap_version.Min:.2f}-{tap_version.Max:.2f}, Got: {offset:.3f}")
self.offset = offset + self.config_z_offset
if set_at_end:
self._set_z_offset(self.offset)
def _tap_simple(self, step_size: float, stop: float, probe_min, probe_speed: float): # -> tuple[int, float, float, float]
probe = self._probe(self.z_endstop.mcu_endstop, probe_min, probe_speed)[2] # Moves until TAP actuates
steps = int((abs(probe) + stop) / step_size)
for step in range(0, steps):
z_pos = probe + (step * step_size) # checking z-position
self._move([None, None, z_pos], probe_speed)
self.printer.lookup_object('toolhead').wait_moves() # Wait for toolhead to move
if not self._endstop_triggered():
travel = abs(probe - z_pos)
return(step, probe, z_pos, travel)
return None
def _tap_rev_hop(self, step_size: float, stop: float, probe_min, probe_speed: float):
probe = self._probe(self.z_endstop.mcu_endstop, probe_min, probe_speed)[2] # Moves until TAP actuates
steps = int((abs(probe) + stop) / step_size)
for step in range(0, steps):
self._move([None, None, probe], probe_speed) # Move back to probe position
z_pos = probe + (step * step_size) # checking z-position
self._move([None, None, z_pos], probe_speed)
self.printer.lookup_object('toolhead').wait_moves() # Wait for toolhead to move
if not self._endstop_triggered():
travel = abs(probe - z_pos)
return(step, probe, z_pos, travel)
return None
def _move(self, coord, speed):
self.printer.lookup_object('toolhead').manual_move(coord, speed)
def _probe(self, mcu_endstop, min_z: float, speed: float): # -> list[float, float, float]
toolhead = self.printer.lookup_object('toolhead')
pos = toolhead.get_position()
pos[2] = min_z
homing = self.printer.lookup_object('homing')
return homing.probing_move(mcu_endstop, pos, speed)
def _home(self, x=True, y=True, z=True):
command = ["G28"]
if x:
command[-1] += " X0"
if y:
command[-1] += " Y0"
if z:
command[-1] += " Z0"
self.gcode._process_commands(command, False)
self.printer.lookup_object('toolhead').wait_moves()
def _endstop_triggered(self):
print_time = self.printer.lookup_object('toolhead').get_last_move_time()
result = self.z_endstop.query_endstop(print_time)
if result == 0:
return False
return True
def _calc_mean(self, positions):
count = float(len(positions))
return sum(positions) / count
def _set_z_offset(self, offset):
gcmd_offset = self.gcode.create_gcode_command("SET_GCODE_OFFSET",
"SET_GCODE_OFFSET",
{'Z': offset})
self.gcode_move.cmd_SET_GCODE_OFFSET(gcmd_offset)
class EndstopWrapper:
def __init__(self, config, endstop):
self.mcu_endstop = endstop
# Wrappers
self.get_mcu = self.mcu_endstop.get_mcu
self.add_stepper = self.mcu_endstop.add_stepper
self.get_steppers = self.mcu_endstop.get_steppers
self.home_start = self.mcu_endstop.home_start
self.home_wait = self.mcu_endstop.home_wait
self.query_endstop = self.mcu_endstop.query_endstop
def load_config(config):
return AutoTAP(config)