Updated Voron Cura for V4.1, Added Voron Design Cube, Removed Depracted items

This commit is contained in:
Maglin 2019-07-28 08:39:18 -05:00
parent b1bf8382f8
commit d9acf56159
8 changed files with 0 additions and 111 deletions

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# Mechanicaly conforms a moving gantry to the bed with 4 Z steppers
#
# Copyright (C) 2018 Maks Zolin <mzolin@mzbot.us>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import logging
import probe, mathutil
class GantryLevel:
def __init__(self, config):
self.printer = config.get_printer()
self.probe_helper = probe.ProbePointsHelper(config, self)
probe_location = config.get('probe_location').split(',')
gantry_corners = config.get('gantry_corners').split('\n')
try:
gantry_corners = [line.split(',', 1)
for line in gantry_corners if line.strip()]
self.gantry_corners = [(float(zp[0].strip()), float(zp[1].strip()))
for zp in gantry_corners]
except:
raise config.error("Unable to parse gantry_corners in %s" % (
config.get_name()))
if len(gantry_corners) < 2:
raise config.error("ganry_level requires at least two gantry_corners")
self.probe_location = [float(probe_location[0].strip()), float(probe_location[1].strip())]
self.z_steppers = []
# Register GANTRY_LEVEL command
self.gcode = self.printer.lookup_object('gcode')
self.gcode.register_command(
'GANTRY_LEVEL', self.cmd_GANTRY_LEVEL,
desc=self.cmd_GANTRY_LEVEL_help)
def printer_state(self, state):
if state == 'connect':
self.handle_connect()
def handle_connect(self):
kin = self.printer.lookup_object('toolhead').get_kinematics()
z_steppers = kin.get_steppers('Z')
if len(z_steppers) != 4:
raise self.printer.config_error("gantry_level needs exactly 4 z steppers")
self.z_steppers = z_steppers
cmd_GANTRY_LEVEL_help = "Conform a moving, twistable gantry to the shape of a stationary bed"
def cmd_GANTRY_LEVEL(self, params):
self.probe_helper.start_probe()
def get_probed_position(self):
kin = self.printer.lookup_object('toolhead').get_kinematics()
return kin.calc_position()
def finalize(self, z_offset, positions):
logging.info("gantry_level Calculating gantry geometry with: %s", positions)
p1 = [positions[0][0] + self.probe_location[0],positions[0][2]]
p2 = [positions[1][0] + self.probe_location[0],positions[1][2]]
p3 = [positions[2][0] + self.probe_location[0],positions[2][2]]
p4 = [positions[3][0] + self.probe_location[0],positions[3][2]]
f1 = self.linefit(p1,p4)
f2 = self.linefit(p2,p3)
logging.info("gantry_level f1: %s, f2: %s" % (f1,f2))
a1 = [positions[0][1] + self.probe_location[1], self.plot(f1,self.gantry_corners[0][0])]
a2 = [positions[1][1] + self.probe_location[1], self.plot(f2,self.gantry_corners[0][0])]
b1 = [positions[0][1] + self.probe_location[1], self.plot(f1,self.gantry_corners[1][0])]
b2 = [positions[1][1] + self.probe_location[1], self.plot(f2,self.gantry_corners[1][0])]
logging.info("gantry_level a1: %s a2: %s b1: %s b2: %s\n" % (a1,a2,b1,b2))
af = self.linefit(a1,a2)
bf = self.linefit(b1,b2)
logging.info("gantry_level af: %s, bf: %s" % (af,bf))
z_adjust = [0,0,0,0]
z_adjust[0] = self.plot(af,self.gantry_corners[0][1])
z_adjust[1] = self.plot(af,self.gantry_corners[1][1])
z_adjust[2] = self.plot(bf,self.gantry_corners[1][1])
z_adjust[3] = self.plot(bf,self.gantry_corners[0][1])
z_avg = sum(z_adjust)/len(z_adjust)
for z_id in range(4):
z_adjust[z_id] = z_avg - z_adjust[z_id]
try:
self.adjust_steppers(z_adjust)
except:
logging.exception("gantry_level adjust_steppers")
for s in self.z_steppers:
z.set_ignore_move(False)
raise
def linefit(self,p1,p2):
if p1[1] == p2[1]:
# Straight line
return 0,p1[1]
m = (p2[1] - p1[1])/(p2[0] - p1[0])
b = p1[1] - m * p1[0]
return m,b
def plot(self,f,x):
return f[0]*x + f[1]
def adjust_steppers(self, z_adjust):
msg = "Making the following Z tilt adjustments:\n%s\n" % (
"\n".join(["%s = %.6f" % (
self.z_steppers[z_id].get_name(), z_adjust[z_id]
) for z_id in range(4)]))
self.gcode.respond_info(msg)
toolhead = self.printer.lookup_object('toolhead')
curpos = toolhead.get_position()
speed = self.probe_helper.get_lift_speed() / 2
for s in self.z_steppers:
s.set_ignore_move(True)
for z_id in range(len(z_adjust)):
stepper = self.z_steppers[z_id]
stepper.set_ignore_move(False)
curpos[2] = curpos[2] - z_adjust[z_id]
toolhead.move(curpos, speed)
toolhead.set_position(curpos)
stepper.set_ignore_move(True)
for s in self.z_steppers:
s.set_ignore_move(False)
self.gcode.reset_last_position()
def load_config(config):
return GantryLevel(config)

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