def finalize(self, positions):
kin = self.printer.lookup_object('toolhead').get_kinematics()
logging.info("Calculating delta_calibrate with: %s", positions)
params = kin.get_calibrate_params()
logging.info("Initial delta_calibrate parameters: %s", params)
adj_params = ('endstop_a', 'endstop_b', 'endstop_c', 'radius',
'angle_a', 'angle_b')
def delta_errorfunc(params):
total_error = 0.
for spos in positions:
x, y, z = delta.get_position_from_stable(spos, params)
total_error += (z - self.probe_z_offset)**2
return total_error
new_params = mathutil.coordinate_descent(adj_params, params,
delta_errorfunc)
logging.info("Calculated delta_calibrate parameters: %s", new_params)
for spos in positions:
logging.info("orig: %s new: %s",
delta.get_position_from_stable(spos, params),
delta.get_position_from_stable(spos, new_params))
self.gcode.respond_info(
"stepper_a: position_endstop: %.6f angle: %.6f\n"
"stepper_b: position_endstop: %.6f angle: %.6f\n"
"stepper_c: position_endstop: %.6f angle: %.6f\n"
"radius: %.6f\n"
"To use these parameters, update the printer config file with\n"
"the above and then issue a RESTART command" %
(new_params['endstop_a'], new_params['angle_a'],
new_params['endstop_b'], new_params['angle_b'],
new_params['endstop_c'], new_params['angle_c'],
new_params['radius']))
def delta_errorfunc(params):
total_error = 0.
for spos in positions:
x, y, z = delta.get_position_from_stable(spos, params)
total_error += (z - self.probe_z_offset)**2
return total_error