add_y_axis_support

axis_twist_compensation: Implement Y-axis support

This commit implements support for the Y-axis in the axis_twist_compensation
module. This update enables the module to handle corrections for printers
with a twisted Y rail.

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

docs/Axis_Twist_Compensation.md

@@ -30,6 +30,7 @@ perform `AXIS_TWIST_COMPENSATION_CALIBRATE`
 points along the bed
 * The calibration defaults to 3 points but you can use the option
 `SAMPLE_COUNT=` to use a different number.
+* For Y-axis calibration, use `AXIS_TWIST_COMPENSATION_CALIBRATE AXIS=Y` instead.
 2. [Adjust your Z offset](Probe_Calibrate.md#calibrating-probe-z-offset)
 3. Perform automatic/probe-based bed tramming operations, such as
 [Screws Tilt Adjust](G-Codes.md#screws_tilt_adjust),

docs/Config_Reference.md

@@ -2035,7 +2035,7 @@ sensor_type: ldc1612
 
 ### [axis_twist_compensation]
 
-A tool to compensate for inaccurate probe readings due to twist in X gantry. See
+A tool to compensate for inaccurate probe readings due to twist in X or Y gantry. See
 the [Axis Twist Compensation Guide](Axis_Twist_Compensation.md) for more
 detailed information regarding symptoms, configuration and setup.
 
@@ -2060,6 +2060,23 @@ calibrate_y: 112.5
 #   This should be the Y coordinate that positions the nozzle during the
 #   calibration process. This parameter must be provided and is recommended to
 #   be near the center of the bed
+
+# For Y-axis twist compensation, specify the following parameters:
+calibrate_start_y: ...
+#   Defines the minimum Y coordinate of the calibration
+#   This should be the Y coordinate that positions the nozzle at the starting
+#   calibration position for the Y axis. This parameter must be provided if
+#   compensating for Y axis twist.
+calibrate_end_y: ...
+#   Defines the maximum Y coordinate of the calibration
+#   This should be the Y coordinate that positions the nozzle at the ending
+#   calibration position for the Y axis. This parameter must be provided if
+#   compensating for Y axis twist.
+calibrate_x: ...
+#   Defines the X coordinate of the calibration for Y axis twist compensation
+#   This should be the X coordinate that positions the nozzle during the
+#   calibration process for Y axis twist compensation. This parameter must be
+#   provided and is recommended to be near the center of the bed.
 ```
 
 ## Additional stepper motors and extruders

klippy/extras/axis_twist_compensation.py

@@ -26,13 +26,24 @@ def __init__(self, config):
         self.calibrate_start_x = config.getfloat('calibrate_start_x')
         self.calibrate_end_x = config.getfloat('calibrate_end_x')
         self.calibrate_y = config.getfloat('calibrate_y')
-        self.z_compensations = config.getlists('z_compensations',
+        self.zx_compensations = config.getlists('zx_compensations',
                                                default=[], parser=float)
         self.compensation_start_x = config.getfloat('compensation_start_x',
                                                     default=None)
-        self.compensation_end_x = config.getfloat('compensation_start_y',
+        self.compensation_end_x = config.getfloat('compensation_end_x',
                                                   default=None)
 
+        self.calibrate_start_y = config.getfloat('calibrate_start_y',
+                                                  default=None)
+        self.calibrate_end_y = config.getfloat('calibrate_end_y', default=None)
+        self.calibrate_x = config.getfloat('calibrate_x', default=None)
+        self.compensation_start_y = config.getfloat('compensation_start_y',
+                                                    default=None)
+        self.compensation_end_y = config.getfloat('compensation_end_y',
+                                                  default=None)
+        self.zy_compensations = config.getlists('zy_compensations',
+                                                default=[], parser=float)
+
         self.m = None
         self.b = None
 
@@ -43,25 +54,41 @@ def __init__(self, config):
                                             self._update_z_compensation_value)
 
     def _update_z_compensation_value(self, pos):
-        if not self.z_compensations:
-            return
+        if self.zx_compensations:
+            pos[2] += self._get_interpolated_z_compensation(
+                pos[0], self.zx_compensations,
+                self.compensation_start_x,
+                self.compensation_end_x
+                )
+
+        if self.zy_compensations:
+            pos[2] += self._get_interpolated_z_compensation(
+                pos[1], self.zy_compensations,
+                self.compensation_start_y,
+                self.compensation_end_y
+                )
+
+    def _get_interpolated_z_compensation(
+            self, coord, z_compensations,
+            comp_start,
+            comp_end
+            ):
 
-        x_coord = pos[0]
-        z_compensations = self.z_compensations
         sample_count = len(z_compensations)
-        spacing = ((self.calibrate_end_x - self.calibrate_start_x)
+        spacing = ((comp_end - comp_start)
                    / (sample_count - 1))
-        interpolate_t = (x_coord - self.calibrate_start_x) / spacing
+        interpolate_t = (coord - comp_start) / spacing
         interpolate_i = int(math.floor(interpolate_t))
         interpolate_i = bed_mesh.constrain(interpolate_i, 0, sample_count - 2)
         interpolate_t -= interpolate_i
         interpolated_z_compensation = bed_mesh.lerp(
             interpolate_t, z_compensations[interpolate_i],
             z_compensations[interpolate_i + 1])
-        pos[2] += interpolated_z_compensation
+        return interpolated_z_compensation
 
     def clear_compensations(self):
-        self.z_compensations = []
+        self.zx_compensations = []
+        self.zy_compensations = []
         self.m = None
         self.b = None
 
@@ -80,10 +107,14 @@ def __init__(self, compensation, config):
                                             self._handle_connect)
         self.speed = compensation.speed
         self.horizontal_move_z = compensation.horizontal_move_z
-        self.start_point = (compensation.calibrate_start_x,
+        self.x_start_point = (compensation.calibrate_start_x,
                             compensation.calibrate_y)
-        self.end_point = (compensation.calibrate_end_x,
+        self.x_end_point = (compensation.calibrate_end_x,
                           compensation.calibrate_y)
+        self.y_start_point = (compensation.calibrate_start_y,
+                            compensation.calibrate_x)
+        self.y_end_point = (compensation.calibrate_end_y,
+                            compensation.calibrate_x)
         self.results = None
         self.current_point_index = None
         self.gcmd = None
@@ -119,6 +150,7 @@ def _register_gcode_handlers(self):
     def cmd_AXIS_TWIST_COMPENSATION_CALIBRATE(self, gcmd):
         self.gcmd = gcmd
         sample_count = gcmd.get_int('SAMPLE_COUNT', DEFAULT_SAMPLE_COUNT)
+        axis = gcmd.get('AXIS', 'X')
 
         # check for valid sample_count
         if sample_count is None or sample_count < 2:
@@ -129,10 +161,51 @@ def cmd_AXIS_TWIST_COMPENSATION_CALIBRATE(self, gcmd):
         self.compensation.clear_compensations()
 
         # calculate some values
-        x_range = self.end_point[0] - self.start_point[0]
-        interval_dist = x_range / (sample_count - 1)
-        nozzle_points = self._calculate_nozzle_points(sample_count,
-                                                      interval_dist)
+        if axis == 'X':
+            start_point = self.x_start_point
+            end_point = self.x_end_point
+        elif axis == 'Y':
+
+            if not all([
+                self.y_start_point[0],
+                self.y_end_point[0],
+                self.y_start_point[1]
+                ]):
+                raise self.gcmd.error(
+                    """AXIS_TWIST_COMPENSATION for Y axis requires
+                    calibrate_start_y, calibrate_end_y and calibrate_x
+                    to be defined
+                    """
+                    )
+
+            start_point = self.y_start_point
+            end_point = self.y_end_point
+        else:
+            raise self.gcmd.error(
+                "AXIS_TWIST_COMPENSATION_CALIBRATE: "
+                "Invalid axis.")
+            return
+
+        axis_range = end_point[0] - start_point[0]
+
+        interval_dist = axis_range / (sample_count - 1)
+
+        # calculate the points to put the probe at, returned as a list of tuples
+        nozzle_points = []
+
+        if axis == 'X':
+            for i in range(sample_count):
+                x = start_point[0] + i * interval_dist
+                y = start_point[1]
+                nozzle_points.append((x, y))
+
+        elif axis == 'Y':
+            for i in range(sample_count):
+                x = start_point[1]
+                y = start_point[0] + i * interval_dist
+                nozzle_points.append((x, y))
+
+
         probe_points = self._calculate_probe_points(
             nozzle_points, self.probe_x_offset, self.probe_y_offset)
 
@@ -142,17 +215,9 @@ def cmd_AXIS_TWIST_COMPENSATION_CALIBRATE(self, gcmd):
         # begin calibration
         self.current_point_index = 0
         self.results = []
+        self.current_axis = axis
         self._calibration(probe_points, nozzle_points, interval_dist)
 
-    def _calculate_nozzle_points(self, sample_count, interval_dist):
-        # calculate the points to put the probe at, returned as a list of tuples
-        nozzle_points = []
-        for i in range(sample_count):
-            x = self.start_point[0] + i * interval_dist
-            y = self.start_point[1]
-            nozzle_points.append((x, y))
-        return nozzle_points
-
     def _calculate_probe_points(self, nozzle_points,
         probe_x_offset, probe_y_offset):
         # calculate the points to put the nozzle at
@@ -238,14 +303,31 @@ def _finalize_calibration(self):
         configfile = self.printer.lookup_object('configfile')
         values_as_str = ', '.join(["{:.6f}".format(x)
                                    for x in self.results])
-        configfile.set(self.configname, 'z_compensations', values_as_str)
-        configfile.set(self.configname, 'compensation_start_x',
-                       self.start_point[0])
-        configfile.set(self.configname, 'compensation_end_x',
-                       self.end_point[0])
-        self.compensation.z_compensations = self.results
-        self.compensation.compensation_start_x = self.start_point[0]
-        self.compensation.compensation_end_x = self.end_point[0]
+
+        if(self.current_axis == 'X'):
+
+            configfile.set(self.configname, 'zx_compensations', values_as_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])
+
+            self.compensation.zx_compensations = self.results
+            self.compensation.compensation_start_x = self.x_start_point[0]
+            self.compensation.compensation_end_x = self.x_end_point[0]
+
+        elif(self.current_axis == 'Y'):
+
+            configfile.set(self.configname, 'zy_compensations', values_as_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.compensation.zy_compensations = self.results
+            self.compensation.compensation_start_y = self.y_start_point[0]
+            self.compensation.compensation_end_y = self.y_end_point[0]
+
         self.gcode.respond_info(
             "AXIS_TWIST_COMPENSATION state has been saved "
             "for the current session.  The SAVE_CONFIG command will "