add_auto_compensation_support

axis_twist_compensation: new command implementation AXIS_TWIST_COMPENSATION_AUTOCALIBRATE

This commit adds automatic calculation support for compensating X and Y axis twist in the axis_twist_compensation module.

Signed-off-by: Jorge Apaza Merma <[email protected]>

docs/Axis_Twist_Compensation.md

@@ -42,6 +42,14 @@ points along the bed
 > **Tip:** Bed temperature and nozzle temperature and size do not seem to have
 > an influence to the calibration process.
 
+## New Command: AXIS_TWIST_COMPENSATION_AUTOCALIBRATE
+
+The ``AXIS_TWIST_COMPENSATION_AUTOCALIBRATE`` command performs automatic calibration to calculate the twist of the X and Y axes without manual measurement.
+
+ * Recommendation: Ensure the bed is completely flat and aligned (without tilt) as much as possible before performing the autocalibration. The autocalibration will take probes and automatically calculate the twist of the X and Y axes.
+
+User Recommendation: It is recommended to use a glass bed for calibration.
+
 ## [axis_twist_compensation] setup and commands
 
 Configuration options for [axis_twist_compensation] can be found in the

docs/G-Codes.md

@@ -146,9 +146,12 @@ The following commands are available when the
 section](Config_Reference.md#axis_twist_compensation) is enabled.
 
 #### AXIS_TWIST_COMPENSATION_CALIBRATE
-`AXIS_TWIST_COMPENSATION_CALIBRATE [SAMPLE_COUNT=<value>]`: Initiates the X
+`AXIS_TWIST_COMPENSATION_CALIBRATE [SAMPLE_COUNT=<value>] [AXIS=<X or Y, default X>]`: Initiates the X or Y
 twist calibration wizard. `SAMPLE_COUNT` specifies the number of points along
 the X axis to calibrate at and defaults to 3.
+`axis` can either be X or Y
+
+`AXIS_TWIST_COMPENSATION_AUTOCALIBRATE` performs automatic calibration to calculate the twist of the X and Y axes without manual measurement.
 
 ### [bed_mesh]
 

klippy/extras/axis_twist_compensation.py

@@ -140,6 +140,10 @@ def _register_gcode_handlers(self):
             'AXIS_TWIST_COMPENSATION_CALIBRATE',
             self.cmd_AXIS_TWIST_COMPENSATION_CALIBRATE,
             desc=self.cmd_AXIS_TWIST_COMPENSATION_CALIBRATE_help)
+        self.gcode.register_command(
+            'AXIS_TWIST_COMPENSATION_AUTOCALIBRATE',
+            self.cmd_AXIS_TWIST_COMPENSATION_AUTOCALIBRATE,
+            desc=self.cmd_AXIS_TWIST_COMPENSATION_CALIBRATE_help)
 
     cmd_AXIS_TWIST_COMPENSATION_CALIBRATE_help = """
     Performs the x twist calibration wizard
@@ -218,6 +222,157 @@ def cmd_AXIS_TWIST_COMPENSATION_CALIBRATE(self, gcmd):
         self.current_axis = axis
         self._calibration(probe_points, nozzle_points, interval_dist)
 
+    def _calculate_corrections(self, coordinates):
+        # Extracting x, y, and z values from coordinates
+        x_coords = [coord[0] for coord in coordinates]
+        y_coords = [coord[1] for coord in coordinates]
+        z_coords = [coord[2] for coord in coordinates]
+
+        # Calculate the desired point (average of all corner points in z)
+        # For a general case, we should extract the unique
+        # combinations of corner points
+        z_corners = [z_coords[i] for i, coord in enumerate(coordinates)
+                     if (coord[0] in [x_coords[0], x_coords[-1]])
+                     and (coord[1] in [y_coords[0], y_coords[-1]])]
+        z_desired = sum(z_corners) / len(z_corners)
+
+
+        # Calculate average deformation per axis
+        unique_x_coords = sorted(set(x_coords))
+        unique_y_coords = sorted(set(y_coords))
+
+        avg_z_x = []
+        for x in unique_x_coords:
+            indices = [i for i, coord in enumerate(coordinates)
+                       if coord[0] == x]
+            avg_z = sum(z_coords[i] for i in indices) / len(indices)
+            avg_z_x.append(avg_z)
+
+        avg_z_y = []
+        for y in unique_y_coords:
+            indices = [i for i, coord in enumerate(coordinates)
+                       if coord[1] == y]
+            avg_z = sum(z_coords[i] for i in indices) / len(indices)
+            avg_z_y.append(avg_z)
+
+        # Calculate corrections to reach the desired point
+        x_corrections = [z_desired - avg for avg in avg_z_x]
+        y_corrections = [z_desired - avg for avg in avg_z_y]
+
+        return x_corrections, y_corrections
+
+    def cmd_AXIS_TWIST_COMPENSATION_AUTOCALIBRATE(self, gcmd):
+        self.gcmd = gcmd
+        sample_count = gcmd.get_int('SAMPLE_COUNT', DEFAULT_SAMPLE_COUNT)
+
+
+        if not all([
+                self.x_start_point[0],
+                self.x_end_point[0],
+                self.y_start_point[0],
+                self.y_end_point[0]
+                ]):
+                raise self.gcmd.error(
+                    """AXIS_TWIST_COMPENSATION_AUTOCALIBRATE requires
+                    calibrate_start_x, calibrate_end_x, calibrate_start_y
+                    and calibrate_end_y to be defined
+                    """
+                    )
+
+        # check for valid sample_count
+        if sample_count is None or sample_count < 2:
+            raise self.gcmd.error(
+                "SAMPLE_COUNT to probe must be at least 2")
+
+        # clear the current config
+        self.compensation.clear_compensations()
+
+        # calculate the points to put the probe at, returned as a list of tuples
+        nozzle_points = []
+
+        min_x = self.x_start_point[0]
+        max_x = self.x_end_point[0]
+        min_y = self.y_start_point[0]
+        max_y = self.y_end_point[0]
+
+        # calculate x positions
+        spcx = (max_x - min_x) / (sample_count - 1)
+        xps = [min_x + spcx * i for i in range(sample_count)]
+
+        # Calculate points array
+        spcy = (max_y - min_y) / (sample_count - 1)
+        flip = False
+
+        points = []
+        for i in range(sample_count):
+            for j in range(sample_count):
+                if(not flip):
+                    idx = j
+                else:
+                    idx = sample_count -1 - j
+                points.append([xps[i], min_y + spcy * idx ])
+            flip = not flip
+
+        # verify no other manual probe is in progress
+        manual_probe.verify_no_manual_probe(self.printer)
+
+
+        # calculate the points to put the nozzle at, and probe
+        probe_points = []
+
+        for i in range(len(points)):
+            x = points[i][0] - self.probe_x_offset
+            y = points[i][1] - self.probe_y_offset
+            probe_points.append([x, y, self._auto_calibration((x,y))[2]])
+
+        # calculate corrections
+        x_corr, y_corr = self._calculate_corrections(probe_points)
+
+        x_corr_str = ', '.join(["{:.6f}".format(x)
+                                   for x in x_corr])
+
+        y_corr_str = ', '.join(["{:.6f}".format(x)
+                                   for x in y_corr])
+
+        # finalize
+        configfile = self.printer.lookup_object('configfile')
+        configfile.set(self.configname, 'zx_compensations', x_corr_str)
+        configfile.set(self.configname, 'compensation_start_x',
+                    self.x_start_point[0])
+        configfile.set(self.configname, 'compensation_end_x',
+                    self.x_end_point[0])
+
+
+        configfile.set(self.configname, 'zy_compensations', y_corr_str)
+        configfile.set(self.configname, 'compensation_start_y',
+                    self.y_start_point[0])
+        configfile.set(self.configname, 'compensation_end_y',
+                    self.y_end_point[0])
+
+
+        self.gcmd.respond_info(
+            "AXIS_TWIST_COMPENSATION_AUTOCALIBRATE: Calibration complete: ")
+        self.gcmd.respond_info("\n".join(map(str, [x_corr, y_corr])), log=False)
+
+    def _auto_calibration(self, probe_point):
+
+        # horizontal_move_z (to prevent probe trigger or hitting bed)
+        self._move_helper((None, None, self.horizontal_move_z))
+
+        # move to point to probe
+        self._move_helper((probe_point[0],
+                           probe_point[1], None))
+
+        # probe the point
+        pos = probe.run_single_probe(self.probe, self.gcmd)
+        #self.current_measured_z = pos[2]
+
+        # horizontal_move_z (to prevent probe trigger or hitting bed)
+        self._move_helper((None, None, self.horizontal_move_z))
+
+        return pos
+
+
     def _calculate_probe_points(self, nozzle_points,
         probe_x_offset, probe_y_offset):
         # calculate the points to put the nozzle at