axis_twist_compensation: Implement Y-axis support
This commit implements support for the Y-axis in the axis_twist_compensation module. This update enables the module to handle corrections for printers with a twisted Y rail. Signed-off-by: Jorge Apaza Merma <yochiwarez@gmail.com>
This commit is contained in:
yochiwarez
KevinOConnor
@@ -23,18 +23,27 @@ class AxisTwistCompensation:
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self.horizontal_move_z = config.getfloat('horizontal_move_z',
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DEFAULT_HORIZONTAL_MOVE_Z)
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self.speed = config.getfloat('speed', DEFAULT_SPEED)
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self.calibrate_start_x = config.getfloat('calibrate_start_x')
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self.calibrate_end_x = config.getfloat('calibrate_end_x')
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self.calibrate_y = config.getfloat('calibrate_y')
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self.calibrate_start_x = config.getfloat('calibrate_start_x',
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default=None)
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self.calibrate_end_x = config.getfloat('calibrate_end_x', default=None)
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self.calibrate_y = config.getfloat('calibrate_y', default=None)
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self.z_compensations = config.getlists('z_compensations',
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default=[], parser=float)
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self.compensation_start_x = config.getfloat('compensation_start_x',
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default=None)
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self.compensation_end_x = config.getfloat('compensation_start_y',
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self.compensation_end_x = config.getfloat('compensation_end_x',
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default=None)
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self.m = None
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self.b = None
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self.calibrate_start_y = config.getfloat('calibrate_start_y',
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default=None)
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self.calibrate_end_y = config.getfloat('calibrate_end_y', default=None)
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self.calibrate_x = config.getfloat('calibrate_x', default=None)
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self.compensation_start_y = config.getfloat('compensation_start_y',
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default=None)
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self.compensation_end_y = config.getfloat('compensation_end_y',
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default=None)
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self.zy_compensations = config.getlists('zy_compensations',
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default=[], parser=float)
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# setup calibrater
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self.calibrater = Calibrater(self, config)
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@@ -43,28 +52,46 @@ class AxisTwistCompensation:
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self._update_z_compensation_value)
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def _update_z_compensation_value(self, pos):
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if not self.z_compensations:
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return
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if self.z_compensations:
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pos[2] += self._get_interpolated_z_compensation(
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pos[0], self.z_compensations,
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self.compensation_start_x,
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self.compensation_end_x
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)
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if self.zy_compensations:
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pos[2] += self._get_interpolated_z_compensation(
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pos[1], self.zy_compensations,
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self.compensation_start_y,
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self.compensation_end_y
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)
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def _get_interpolated_z_compensation(
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self, coord, z_compensations,
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comp_start,
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comp_end
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):
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x_coord = pos[0]
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z_compensations = self.z_compensations
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sample_count = len(z_compensations)
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spacing = ((self.calibrate_end_x - self.calibrate_start_x)
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spacing = ((comp_end - comp_start)
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/ (sample_count - 1))
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interpolate_t = (x_coord - self.calibrate_start_x) / spacing
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interpolate_t = (coord - comp_start) / spacing
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interpolate_i = int(math.floor(interpolate_t))
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interpolate_i = bed_mesh.constrain(interpolate_i, 0, sample_count - 2)
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interpolate_t -= interpolate_i
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interpolated_z_compensation = bed_mesh.lerp(
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interpolate_t, z_compensations[interpolate_i],
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z_compensations[interpolate_i + 1])
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pos[2] += interpolated_z_compensation
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def clear_compensations(self):
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self.z_compensations = []
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self.m = None
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self.b = None
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return interpolated_z_compensation
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def clear_compensations(self, axis=None):
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if axis is None:
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self.z_compensations = []
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self.zy_compensations = []
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elif axis == 'X':
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self.z_compensations = []
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elif axis == 'Y':
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self.zy_compensations = []
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class Calibrater:
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def __init__(self, compensation, config):
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@@ -80,10 +107,14 @@ class Calibrater:
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self._handle_connect)
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self.speed = compensation.speed
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self.horizontal_move_z = compensation.horizontal_move_z
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self.start_point = (compensation.calibrate_start_x,
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self.x_start_point = (compensation.calibrate_start_x,
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compensation.calibrate_y)
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self.end_point = (compensation.calibrate_end_x,
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self.x_end_point = (compensation.calibrate_end_x,
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compensation.calibrate_y)
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self.y_start_point = (compensation.calibrate_x,
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compensation.calibrate_start_y)
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self.y_end_point = (compensation.calibrate_x,
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compensation.calibrate_end_y)
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self.results = None
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self.current_point_index = None
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self.gcmd = None
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@@ -119,20 +150,75 @@ class Calibrater:
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def cmd_AXIS_TWIST_COMPENSATION_CALIBRATE(self, gcmd):
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self.gcmd = gcmd
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sample_count = gcmd.get_int('SAMPLE_COUNT', DEFAULT_SAMPLE_COUNT)
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axis = gcmd.get('AXIS', 'X')
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# check for valid sample_count
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if sample_count is None or sample_count < 2:
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if sample_count < 2:
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raise self.gcmd.error(
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"SAMPLE_COUNT to probe must be at least 2")
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# clear the current config
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self.compensation.clear_compensations()
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# calculate the points to put the probe at, returned as a list of tuples
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nozzle_points = []
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if axis == 'X':
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self.compensation.clear_compensations('X')
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if not all([
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self.x_start_point[0],
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self.x_end_point[0],
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self.x_start_point[1]
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]):
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raise self.gcmd.error(
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"""AXIS_TWIST_COMPENSATION for X axis requires
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calibrate_start_x, calibrate_end_x and calibrate_y
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to be defined
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"""
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)
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start_point = self.x_start_point
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end_point = self.x_end_point
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x_axis_range = end_point[0] - start_point[0]
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interval_dist = x_axis_range / (sample_count - 1)
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for i in range(sample_count):
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x = start_point[0] + i * interval_dist
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y = start_point[1]
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nozzle_points.append((x, y))
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elif axis == 'Y':
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self.compensation.clear_compensations('Y')
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if not all([
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self.y_start_point[0],
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self.y_end_point[0],
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self.y_start_point[1]
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]):
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raise self.gcmd.error(
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"""AXIS_TWIST_COMPENSATION for Y axis requires
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calibrate_start_y, calibrate_end_y and calibrate_x
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to be defined
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"""
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)
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start_point = self.y_start_point
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end_point = self.y_end_point
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y_axis_range = end_point[1] - start_point[1]
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interval_dist = y_axis_range / (sample_count - 1)
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for i in range(sample_count):
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x = start_point[0]
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y = start_point[1] + i * interval_dist
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nozzle_points.append((x, y))
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else:
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raise self.gcmd.error(
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"AXIS_TWIST_COMPENSATION_CALIBRATE: "
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"Invalid axis.")
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# calculate some values
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x_range = self.end_point[0] - self.start_point[0]
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interval_dist = x_range / (sample_count - 1)
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nozzle_points = self._calculate_nozzle_points(sample_count,
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interval_dist)
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probe_points = self._calculate_probe_points(
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nozzle_points, self.probe_x_offset, self.probe_y_offset)
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@@ -142,17 +228,9 @@ class Calibrater:
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# begin calibration
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self.current_point_index = 0
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self.results = []
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self.current_axis = axis
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self._calibration(probe_points, nozzle_points, interval_dist)
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def _calculate_nozzle_points(self, sample_count, interval_dist):
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# calculate the points to put the probe at, returned as a list of tuples
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nozzle_points = []
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for i in range(sample_count):
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x = self.start_point[0] + i * interval_dist
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y = self.start_point[1]
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nozzle_points.append((x, y))
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return nozzle_points
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def _calculate_probe_points(self, nozzle_points,
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probe_x_offset, probe_y_offset):
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# calculate the points to put the nozzle at
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@@ -238,14 +316,31 @@ class Calibrater:
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configfile = self.printer.lookup_object('configfile')
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values_as_str = ', '.join(["{:.6f}".format(x)
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for x in self.results])
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configfile.set(self.configname, 'z_compensations', values_as_str)
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configfile.set(self.configname, 'compensation_start_x',
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self.start_point[0])
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configfile.set(self.configname, 'compensation_end_x',
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self.end_point[0])
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self.compensation.z_compensations = self.results
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self.compensation.compensation_start_x = self.start_point[0]
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self.compensation.compensation_end_x = self.end_point[0]
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if(self.current_axis == 'X'):
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configfile.set(self.configname, 'z_compensations', values_as_str)
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configfile.set(self.configname, 'compensation_start_x',
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self.x_start_point[0])
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configfile.set(self.configname, 'compensation_end_x',
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self.x_end_point[0])
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self.compensation.z_compensations = self.results
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self.compensation.compensation_start_x = self.x_start_point[0]
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self.compensation.compensation_end_x = self.x_end_point[0]
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elif(self.current_axis == 'Y'):
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configfile.set(self.configname, 'zy_compensations', values_as_str)
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configfile.set(self.configname, 'compensation_start_y',
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self.y_start_point[1])
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configfile.set(self.configname, 'compensation_end_y',
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self.y_end_point[1])
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self.compensation.zy_compensations = self.results
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self.compensation.compensation_start_y = self.y_start_point[1]
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self.compensation.compensation_end_y = self.y_end_point[1]
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self.gcode.respond_info(
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"AXIS_TWIST_COMPENSATION state has been saved "
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"for the current session. The SAVE_CONFIG command will "
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