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probe: Add ability to multi-sample points to ProbePointsHelper

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Signed-off-by:  Eric Callahan <arksine.code@gmail.com>
This commit is contained in:
Arksine
2018-08-25 12:00:08 -04:00
committed by Kevin O'Connor
parent 1588426229
commit 40b7ba5111
4 changed files with 60 additions and 13 deletions
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31
klippy/extras/probe.py
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@@ -158,6 +158,9 @@ class ProbePointsHelper:
# Lookup probe object
self.probe = None
self.probe_offsets = (0., 0., 0.)
self.samples = config.getint('samples', 1, minval=1)
self.sample_retract_dist = config.getfloat(
'sample_retract_dist', 2., above=0.)
manual_probe = config.getboolean('manual_probe', None)
if manual_probe is None:
manual_probe = not config.has_section('probe')
@@ -180,15 +183,26 @@ class ProbePointsHelper:
return self.probe.last_home_position()
else:
return None
def lift_z(self, z_pos):
def lift_z(self, z_pos, add=False):
# Lift toolhead
curpos = self.toolhead.get_position()
curpos[2] = z_pos
if add:
curpos[2] += z_pos
else:
curpos[2] = z_pos
try:
self.toolhead.move(curpos, self.lift_speed)
except homing.EndstopError as e:
self.finalize(False)
raise self.gcode.error(str(e))
def probe_point(self):
for i in range(self.samples):
self.gcode.run_script_from_command("PROBE")
self.toolhead.wait_moves()
self.results.append(self.callback.get_probed_position())
if i < self.samples - 1:
# retract
self.lift_z(self.sample_retract_dist, add=True)
def start_probe(self):
# Begin probing
self.toolhead = self.printer.lookup_object('toolhead')
@@ -205,13 +219,13 @@ class ProbePointsHelper:
if self.probe is not None:
try:
while self.busy:
self.gcode.run_script_from_command("PROBE")
self.probe_point()
self.cmd_NEXT({})
except:
self.finalize(False)
raise
def move_next(self):
x, y = self.probe_points[len(self.results)]
x, y = self.probe_points[len(self.results)/self.samples]
curpos = self.toolhead.get_position()
curpos[0] = x
curpos[1] = y
@@ -224,13 +238,14 @@ class ProbePointsHelper:
self.gcode.reset_last_position()
cmd_NEXT_help = "Move to the next XY position to probe"
def cmd_NEXT(self, params):
# Record current position
self.toolhead.wait_moves()
self.results.append(self.callback.get_probed_position())
if self.probe is None:
# Record current position for manual probe
self.toolhead.wait_moves()
self.results.append(self.callback.get_probed_position())
# Lift toolhead
self.lift_z(self.horizontal_move_z)
# Move to next position
if len(self.results) == len(self.probe_points):
if len(self.results) / self.samples == len(self.probe_points):
self.toolhead.get_last_move_time()
self.finalize(True)
return