klipper/klippy/extras/tuning_tower.py

# Helper script to adjust parameters based on Z level
#
# Copyright (C) 2019  Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import math, logging

CANCEL_Z_DELTA=2.0

class TuningTower:
    def __init__(self, config):
        self.printer = config.get_printer()
        self.normal_transform = None
        self.last_position = [0., 0., 0., 0.]
        self.last_z = self.start = self.factor = self.band = 0.
        self.command_fmt = ""
        # Register command
        gcode = self.printer.lookup_object("gcode")
        gcode.register_command("TUNING_TOWER", self.cmd_TUNING_TOWER,
                               desc=self.cmd_TUNING_TOWER_help)
    cmd_TUNING_TOWER_help = "Tool to adjust a parameter at each Z height"
    def cmd_TUNING_TOWER(self, gcmd):
        if self.normal_transform is not None:
            self.end_test()
        # Get parameters
        gcode = self.printer.lookup_object("gcode")
        command = gcmd.get('COMMAND')
        parameter = gcmd.get('PARAMETER')
        self.start = gcmd.get_float('START', 0.)
        self.factor = gcmd.get_float('FACTOR')
        self.band = gcmd.get_float('BAND', 0., minval=0.)
        # Enable test mode
        if gcode.is_traditional_gcode(command):
            self.command_fmt = "%s %s%%.9f" % (command, parameter)
        else:
            self.command_fmt = "%s %s=%%.9f" % (command, parameter)
        self.normal_transform = gcode.set_move_transform(self, force=True)
        self.last_z = -99999999.9
        gcode.reset_last_position()
        self.get_position()
        gcmd.respond_info("Starting tuning test (start=%.6f factor=%.6f)"
                          % (self.start, self.factor))
    def get_position(self):
        pos = self.normal_transform.get_position()
        self.last_position = list(pos)
        return pos
    def calc_value(self, z):
        # Compensate Z-Offset
        gcode = self.printer.lookup_object("gcode")
        z_offset = gcode.get_status(None)['base_zpos']
        z = max(0, z - z_offset)
        if self.band:
            z = (math.floor(z / self.band) + .5) * self.band
        return self.start + z * self.factor
    def move(self, newpos, speed):
        normal_transform = self.normal_transform
        if (newpos[3] > self.last_position[3] and newpos[2] != self.last_z
            and newpos[:3] != self.last_position[:3]):
            # Extrusion move at new z height
            z = newpos[2]
            if z < self.last_z - CANCEL_Z_DELTA:
                # Extrude at a lower z height - probably start of new print
                self.end_test()
            else:
                # Process update
                oldval = self.calc_value(self.last_z)
                newval = self.calc_value(z)
                self.last_z = z
                if newval != oldval:
                    gcode = self.printer.lookup_object("gcode")
                    gcode.run_script_from_command(self.command_fmt % (newval,))
        # Forward move to actual handler
        self.last_position[:] = newpos
        normal_transform.move(newpos, speed)
    def end_test(self):
        gcode = self.printer.lookup_object("gcode")
        gcode.respond_info("Ending tuning test mode")
        gcode.set_move_transform(self.normal_transform, force=True)
        self.normal_transform = None

def load_config(config):
    return TuningTower(config)