def calculate_params(self, probe_positions, distances):
height_positions = self.manual_heights + probe_positions
# Setup for coordinate descent analysis
kin = self.printer.lookup_object('toolhead').get_kinematics()
orig_delta_params = odp = kin.get_calibration()
adj_params, params = odp.coordinate_descent_params(distances)
logging.info(
"Calculating delta_calibrate with:\n%s\n%s\n"
"Initial delta_calibrate parameters: %s", height_positions,
distances, params)
z_weight = 1.
if distances:
z_weight = len(distances) / (MEASURE_WEIGHT * len(probe_positions))
# Perform coordinate descent
def delta_errorfunc(params):
try:
# Build new delta_params for params under test
delta_params = orig_delta_params.new_calibration(params)
getpos = delta_params.get_position_from_stable
# Calculate z height errors
total_error = 0.
for z_offset, stable_pos in height_positions:
x, y, z = getpos(stable_pos)
total_error += (z - z_offset)**2
total_error *= z_weight
# Calculate distance errors
for dist, stable_pos1, stable_pos2 in distances:
x1, y1, z1 = getpos(stable_pos1)
x2, y2, z2 = getpos(stable_pos2)
d = math.sqrt((x1 - x2)**2 + (y1 - y2)**2 + (z1 - z2)**2)
total_error += (d - dist)**2
return total_error
except ValueError:
return 9999999999999.9
new_params = mathutil.background_coordinate_descent(
self.printer, adj_params, params, delta_errorfunc)
# Log and report results
logging.info("Calculated delta_calibrate parameters: %s", new_params)
new_delta_params = orig_delta_params.new_calibration(new_params)
for z_offset, spos in height_positions:
logging.info("height orig: %.6f new: %.6f goal: %.6f",
orig_delta_params.get_position_from_stable(spos)[2],
new_delta_params.get_position_from_stable(spos)[2],
z_offset)
for dist, spos1, spos2 in distances:
x1, y1, z1 = orig_delta_params.get_position_from_stable(spos1)
x2, y2, z2 = orig_delta_params.get_position_from_stable(spos2)
orig_dist = math.sqrt((x1 - x2)**2 + (y1 - y2)**2 + (z1 - z2)**2)
x1, y1, z1 = new_delta_params.get_position_from_stable(spos1)
x2, y2, z2 = new_delta_params.get_position_from_stable(spos2)
new_dist = math.sqrt((x1 - x2)**2 + (y1 - y2)**2 + (z1 - z2)**2)
logging.info("distance orig: %.6f new: %.6f goal: %.6f", orig_dist,
new_dist, dist)
# Store results for SAVE_CONFIG
self.save_state(probe_positions, distances, new_delta_params)
self.gcode.respond_info(
"The SAVE_CONFIG command will update the printer config file\n"
"with these parameters and restart the printer.")
def calculate_params(self, probe_positions, distances):
# Setup for coordinate descent analysis
kin = self.printer.lookup_object('toolhead').get_kinematics()
params = kin.get_calibrate_params()
orig_delta_params = build_delta_params(params)
logging.info(
"Calculating delta_calibrate with:\n%s\n%s\n"
"Initial delta_calibrate parameters: %s", probe_positions,
distances, params)
adj_params = ('radius', 'angle_a', 'angle_b', 'endstop_a', 'endstop_b',
'endstop_c')
z_weight = 1.
if distances:
adj_params += ('arm_a', 'arm_b', 'arm_c')
z_weight = len(distances) / (MEASURE_WEIGHT * len(probe_positions))
# Perform coordinate descent
def delta_errorfunc(params):
# Build new delta_params for params under test
delta_params = build_delta_params(params)
# Calculate z height errors
total_error = 0.
for z_offset, stable_pos in probe_positions:
x, y, z = get_position_from_stable(stable_pos, delta_params)
total_error += (z - z_offset)**2
total_error *= z_weight
# Calculate distance errors
for dist, stable_pos1, stable_pos2 in distances:
x1, y1, z1 = get_position_from_stable(stable_pos1,
delta_params)
x2, y2, z2 = get_position_from_stable(stable_pos2,
delta_params)
d = math.sqrt((x1 - x2)**2 + (y1 - y2)**2 + (z1 - z2)**2)
total_error += (d - dist)**2
return total_error
new_params = mathutil.background_coordinate_descent(
self.printer, adj_params, params, delta_errorfunc)
# Log and report results
logging.info("Calculated delta_calibrate parameters: %s", new_params)
new_delta_params = build_delta_params(new_params)
for z_offset, spos in probe_positions:
logging.info("height orig: %.6f new: %.6f goal: %.6f",
get_position_from_stable(spos, orig_delta_params)[2],
get_position_from_stable(spos, new_delta_params)[2],
z_offset)
for dist, spos1, spos2 in distances:
x1, y1, z1 = get_position_from_stable(spos1, orig_delta_params)
x2, y2, z2 = get_position_from_stable(spos2, orig_delta_params)
orig_dist = math.sqrt((x1 - x2)**2 + (y1 - y2)**2 + (z1 - z2)**2)
x1, y1, z1 = get_position_from_stable(spos1, new_delta_params)
x2, y2, z2 = get_position_from_stable(spos2, new_delta_params)
new_dist = math.sqrt((x1 - x2)**2 + (y1 - y2)**2 + (z1 - z2)**2)
logging.info("distance orig: %.6f new: %.6f goal: %.6f", orig_dist,
new_dist, dist)
self.gcode.respond_info(
"stepper_a: position_endstop: %.6f angle: %.6f arm: %.6f\n"
"stepper_b: position_endstop: %.6f angle: %.6f arm: %.6f\n"
"stepper_c: position_endstop: %.6f angle: %.6f arm: %.6f\n"
"delta_radius: %.6f\n"
"The SAVE_CONFIG command will update the printer config file\n"
"with these parameters and restart the printer." %
(new_params['endstop_a'], new_params['angle_a'],
new_params['arm_a'], new_params['endstop_b'],
new_params['angle_b'], new_params['arm_b'],
new_params['endstop_c'], new_params['angle_c'],
new_params['arm_c'], new_params['radius']))
# Store results for SAVE_CONFIG
self.save_state(probe_positions, distances, new_params)
def calculate_params(self, probe_positions, distances):
# Setup for coordinate descent analysis
kin = self.printer.lookup_object('toolhead').get_kinematics()
params = kin.get_calibrate_params()
orig_delta_params = build_delta_params(params)
logging.info("Calculating delta_calibrate with:\n%s\n%s\n"
"Initial delta_calibrate parameters: %s",
probe_positions, distances, params)
adj_params = ('radius', 'angle_a', 'angle_b',
'endstop_a', 'endstop_b', 'endstop_c')
z_weight = 1.
if distances:
adj_params += ('arm_a', 'arm_b', 'arm_c')
z_weight = len(distances) / (MEASURE_WEIGHT * len(probe_positions))
# Perform coordinate descent
def delta_errorfunc(params):
# Build new delta_params for params under test
delta_params = build_delta_params(params)
# Calculate z height errors
total_error = 0.
for z_offset, stable_pos in probe_positions:
x, y, z = get_position_from_stable(stable_pos, delta_params)
total_error += (z - z_offset)**2
total_error *= z_weight
# Calculate distance errors
for dist, stable_pos1, stable_pos2 in distances:
x1, y1, z1 = get_position_from_stable(stable_pos1, delta_params)
x2, y2, z2 = get_position_from_stable(stable_pos2, delta_params)
d = math.sqrt((x1-x2)**2 + (y1-y2)**2 + (z1-z2)**2)
total_error += (d - dist)**2
return total_error
new_params = mathutil.background_coordinate_descent(
self.printer, adj_params, params, delta_errorfunc)
# Log and report results
logging.info("Calculated delta_calibrate parameters: %s", new_params)
new_delta_params = build_delta_params(new_params)
for z_offset, spos in probe_positions:
logging.info("height orig: %.6f new: %.6f goal: %.6f",
get_position_from_stable(spos, orig_delta_params)[2],
get_position_from_stable(spos, new_delta_params)[2],
z_offset)
for dist, spos1, spos2 in distances:
x1, y1, z1 = get_position_from_stable(spos1, orig_delta_params)
x2, y2, z2 = get_position_from_stable(spos2, orig_delta_params)
orig_dist = math.sqrt((x1-x2)**2 + (y1-y2)**2 + (z1-z2)**2)
x1, y1, z1 = get_position_from_stable(spos1, new_delta_params)
x2, y2, z2 = get_position_from_stable(spos2, new_delta_params)
new_dist = math.sqrt((x1-x2)**2 + (y1-y2)**2 + (z1-z2)**2)
logging.info("distance orig: %.6f new: %.6f goal: %.6f",
orig_dist, new_dist, dist)
self.gcode.respond_info(
"stepper_a: position_endstop: %.6f angle: %.6f arm: %.6f\n"
"stepper_b: position_endstop: %.6f angle: %.6f arm: %.6f\n"
"stepper_c: position_endstop: %.6f angle: %.6f arm: %.6f\n"
"delta_radius: %.6f\n"
"The SAVE_CONFIG command will update the printer config file\n"
"with these parameters and restart the printer." % (
new_params['endstop_a'], new_params['angle_a'],
new_params['arm_a'],
new_params['endstop_b'], new_params['angle_b'],
new_params['arm_b'],
new_params['endstop_c'], new_params['angle_c'],
new_params['arm_c'],
new_params['radius']))
# Store results for SAVE_CONFIG
self.save_state(probe_positions, distances, new_params)