diff --git a/docs/Bed_Mesh.md b/docs/Bed_Mesh.md index d2a417dd40ec..eaeb3862d181 100644 --- a/docs/Bed_Mesh.md +++ b/docs/Bed_Mesh.md @@ -370,14 +370,54 @@ are identified in green. ![bedmesh_interpolated](img/bedmesh_faulty_regions.svg) +### Adaptive Meshes + +Adaptive bed meshing is a way to speed up the bed mesh generation by only probing +the area of the bed used by the objects being printed. When used, the method will +automatically adjust the mesh parameters based on the area occupied by the defined +print objects. + +The adapted mesh area will be computed from the area defined by the boundaries of all +the defined print object so it covers every object, including any margins defined in +the configuration. After the area is computed, the number of probe points will be +scaled down based on the ratio of the default mesh area and the adapted mesh area. To +illustrate this consider the following example: + +For a 150mmx150mm bed with `mesh_min` set to `25,25` and `mesh_max` set to `25,25`, +the default mesh area is a 100mmx100mm square. An adapted mesh area of `50,50` +means a ratio of `0.5x0.5` between the adapted area and default mesh area. + +If the `bed_mesh` configuration specified `probe_count` as `7x7`, the adapted bed +mesh will use 4x4 probe points (roundUp(7 * 0.5)). + +![adaptive_bedmesh](img/adaptive_bed_mesh.svg) +``` +[bed_mesh] +speed: 120 +horizontal_move_z: 5 +mesh_min: 35, 6 +mesh_max: 240, 198 +probe_count: 5, 3 +mesh_margin: 5 +``` + +- `mesh_margin` \ + _Default Value: 0_ \ + Margin (in mm) to add around the area of the bed used by the defined objects. The diagram + below shows the adapted bed mesh area with a `mesh_margin` set to 5mm. The adapted mesh area + (area in green) is computed as the used bed area (area in blue) plus the defined margin. + + ![adaptive_bedmesh_margin](img/adaptive_bed_mesh_margin.svg) ## Bed Mesh Gcodes ### Calibration `BED_MESH_CALIBRATE PROFILE= METHOD=[manual | automatic] [=] - [=]`\ + [=] [ADAPTIVE=[0|1] [ADAPTIVE_MARGIN=]`\ _Default Profile: default_\ -_Default Method: automatic if a probe is detected, otherwise manual_ +_Default Method: automatic if a probe is detected, otherwise manual_ \ +_Default Adaptive: 0_ \ +_Default Adaptive Margin: 0_ Initiates the probing procedure for Bed Mesh Calibration. @@ -399,6 +439,8 @@ following parameters are available: - `ROUND_PROBE_COUNT` - All beds: - `ALGORITHM` + - `ADAPTIVE` + - `ADAPTIVE_MARGIN` See the configuration documentation above for details on how each parameter applies to the mesh. diff --git a/docs/img/adaptive_bed_mesh.svg b/docs/img/adaptive_bed_mesh.svg new file mode 100644 index 000000000000..954ca0b322c7 --- /dev/null +++ b/docs/img/adaptive_bed_mesh.svg @@ -0,0 +1,4 @@ + + + +
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(125,1...Text is not SVG - cannot display \ No newline at end of file diff --git a/klippy/extras/bed_mesh.py b/klippy/extras/bed_mesh.py index 6c714304fb8a..7b6ea5cd6d77 100644 --- a/klippy/extras/bed_mesh.py +++ b/klippy/extras/bed_mesh.py @@ -2,10 +2,14 @@ # # Copyright (C) 2018 Kevin O'Connor # Copyright (C) 2018-2019 Eric Callahan +# Copyright (C) 2023 Kyle Hansen (Kyleisah) +# Copyright (C) 2023 Brandon Nance +# Copyright (C) 2023 Mitko Haralanov # # This file may be distributed under the terms of the GNU GPLv3 license. import logging, math, json, collections from . import probe +from configparser import Error as config_error PROFILE_VERSION = 1 PROFILE_OPTIONS = { @@ -103,6 +107,7 @@ def __init__(self, config): self.log_fade_complete = False self.base_fade_target = config.getfloat('fade_target', None) self.fade_target = 0. + self.margin = config.getfloat('margin', 0.0) self.gcode = self.printer.lookup_object('gcode') self.splitter = MoveSplitter(config, self.gcode) # setup persistent storage @@ -573,7 +578,8 @@ def _verify_algorithm(self, error): "interpolation. Configured Probe Count: %d, %d" % (self.mesh_config['x_count'], self.mesh_config['y_count'])) params['algo'] = 'lagrange' - def update_config(self, gcmd): + def update_config(self, gcmd, do_adaptive, exclude_object=None, + mesh_margin=0): # reset default configuration self.radius = self.orig_config['radius'] self.origin = self.orig_config['origin'] @@ -584,6 +590,98 @@ def update_config(self, gcmd): params = gcmd.get_command_parameters() need_cfg_update = False + + # If adaptive meshing is enabled and there are defined objects, + # generate adaptive mesh + if do_adaptive and exclude_object is not None and \ + len(exclude_object.objects) != 0: + # List all exclude_object points by axis and iterate over + # all polygon points, and pick the min and max or each axis + list_of_xs = [] + list_of_ys = [] + gcmd.respond_info("Found %s objects" % (len(exclude_object.objects))) + for obj in exclude_object.objects: + for point in obj["polygon"]: + list_of_xs.append(point[0]) + list_of_ys.append(point[1]) + + # Define bounds of adaptive mesh area + mesh_min = [min(list_of_xs), min(list_of_ys)] + mesh_max = [max(list_of_xs), max(list_of_ys)] + adjusted_mesh_min = [x - mesh_margin for x in mesh_min] + adjusted_mesh_max = [x + mesh_margin for x in mesh_max] + + # Force margin to respect original mesh bounds + adjusted_mesh_min[0] = max(adjusted_mesh_min[0], + self.orig_config["mesh_min"][0]) + adjusted_mesh_min[1] = max(adjusted_mesh_min[1], + self.orig_config["mesh_min"][1]) + adjusted_mesh_max[0] = min(adjusted_mesh_max[0], + self.orig_config["mesh_max"][0]) + adjusted_mesh_max[1] = min(adjusted_mesh_max[1], + self.orig_config["mesh_max"][1]) + + adjusted_mesh_size = (adjusted_mesh_max[0] - adjusted_mesh_min[0], + adjusted_mesh_max[1] - adjusted_mesh_min[1]) + + # Compute a ratio between the adapted and original sizes + ratio = (adjusted_mesh_size[0] / + (self.orig_config["mesh_max"][0] - self.orig_config["mesh_min"][0]), + adjusted_mesh_size[1] / + (self.orig_config["mesh_max"][1] - self.orig_config["mesh_min"][1])) + + gcmd.respond_info("Original mesh bounds: (%s,%s)" % + (self.orig_config["mesh_min"], self.orig_config["mesh_max"])) + gcmd.respond_info("Original probe count: (%s,%s)" % + (self.mesh_config["x_count"], self.mesh_config["y_count"])) + gcmd.respond_info("Adapted mesh bounds: (%s,%s)" % + (adjusted_mesh_min, adjusted_mesh_max)) + gcmd.respond_info("Ratio: (%s, %s)" % ratio) + + new_x_probe_count = int( + math.ceil(self.mesh_config["x_count"] * ratio[0])) + new_y_probe_count = int( + math.ceil(self.mesh_config["y_count"] * ratio[1])) + + # There is one case, where we may have to adjust the probe counts: + # axis0 < 4 and axis1 > 6 (see _verify_algorithm). + min_num_of_probes = 3 + if max(new_x_probe_count, new_y_probe_count) > 6 and \ + min(new_x_probe_count, new_y_probe_count) < 4: + min_num_of_probes = 4 + + new_x_probe_count = max(min_num_of_probes, new_x_probe_count) + new_y_probe_count = max(min_num_of_probes, new_y_probe_count) + + gcmd.respond_info("Adapted probe count: (%s,%s)" % + (new_x_probe_count, new_y_probe_count)) + + # If the adapted mesh size is too small, adjust it to something useful. + adjusted_mesh_size = (max(adjusted_mesh_size[0], new_x_probe_count), + max(adjusted_mesh_size[1], new_y_probe_count)) + + if self.radius is not None: + adapted_radius = math.sqrt((adjusted_mesh_size[0] ** 2) + + (adjusted_mesh_size[1] ** 2)) / 2 + adapted_origin = (adjusted_mesh_min[0] + (adjusted_mesh_size[0] / 2), + adjusted_mesh_min[1] + (adjusted_mesh_size[1] / 2)) + to_adapted_origin = math.sqrt(adapted_origin[0]**2 + + adapted_origin[1]**2) + # If the adapted mesh size is smaller than the default/full mesh, + # adjust the parameters. Otherwise, just do the full mesh. + if adapted_radius + to_adapted_origin < self.radius: + self.radius = adapted_radius + self.origin = adapted_origin + self.mesh_min = (-self.radius, -self.radius) + self.mesh_max = (self.radius, self.radius) + self.mesh_config["x_count"] = self.mesh_config["y_count"] = \ + max(new_x_probe_count, new_y_probe_count) + else: + self.mesh_min = adjusted_mesh_min + self.mesh_max = adjusted_mesh_max + self.mesh_config["x_count"] = new_x_probe_count + self.mesh_config["y_count"] = new_y_probe_count + need_cfg_update = True if self.radius is not None: if "MESH_RADIUS" in params: self.radius = gcmd.get_float("MESH_RADIUS") @@ -653,8 +751,17 @@ def cmd_BED_MESH_CALIBRATE(self, gcmd): self._profile_name = gcmd.get('PROFILE', "default") if not self._profile_name.strip(): raise gcmd.error("Value for parameter 'PROFILE' must be specified") + exclude_object = None + adaptive_mesh = bool(gcmd.get_int('ADAPTIVE', 0)) + margin = gcmd.get_float('ADAPTIVE_MARGIN', self.bedmesh.margin) + if adaptive_mesh: + try: + exclude_object = self.printer.lookup_object("exclude_object") + except config_error: + gcmd.respond_info("Exclude objects not enabled. Using full mesh...") + exclude_object = None self.bedmesh.set_mesh(None) - self.update_config(gcmd) + self.update_config(gcmd, adaptive_mesh, exclude_object, margin) self.probe_helper.start_probe(gcmd) def probe_finalize(self, offsets, positions): x_offset, y_offset, z_offset = offsets