diff --git a/docs/Bed_Mesh.md b/docs/Bed_Mesh.md index d2a417dd40ec..ada3de29d249 100644 --- a/docs/Bed_Mesh.md +++ b/docs/Bed_Mesh.md @@ -370,14 +370,68 @@ 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 objects 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 `125,125`, +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 (7 * 0.5 rounded up). + +![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 +adaptive_margin: 5 +``` + +- `adaptive_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 an `adaptive_margin` of 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) + +By nature, adaptive bed meshes use the objects defined by the Gcode file being printed. +Therefore, it is expected that each Gcode file will generate a mesh that probes a different +area of the print bed. Therefore, adapted bed meshes should not be re-used. The expectation +is that a new mesh will be generated for each print if adaptive meshing is used. + +It is also important to consider that adaptive bed meshing is best used on machines that can +normally probe the entire bed and achieve a maximum variance less than or equal to 1 layer +height. Machines with mechanical issues that a full bed mesh normally compensates for may +have undesirable results when attempting print moves **outside** of the probed area. If a +full bed mesh has a variance greater than 1 layer height, caution must be taken when using +adaptive bed meshes and attempting print moves outside of the meshed area. + ## 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 +453,8 @@ 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/Config_Reference.md b/docs/Config_Reference.md index 4b53ef264e44..cb80000b3230 100644 --- a/docs/Config_Reference.md +++ b/docs/Config_Reference.md @@ -991,6 +991,9 @@ Visual Examples: # Optional points that define a faulty region. See docs/Bed_Mesh.md # for details on faulty regions. Up to 99 faulty regions may be added. # By default no faulty regions are set. +#adaptive_margin: +# An optional margin (in mm) to be added around the bed area used by +# the defined print objects when generating an adaptive mesh. ``` ### [bed_tilt] 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..9e30846f0ffd 100644 --- a/klippy/extras/bed_mesh.py +++ b/klippy/extras/bed_mesh.py @@ -1,6 +1,5 @@ # Mesh Bed Leveling # -# Copyright (C) 2018 Kevin O'Connor # Copyright (C) 2018-2019 Eric Callahan # # This file may be distributed under the terms of the GNU GPLv3 license. @@ -291,6 +290,7 @@ def __init__(self, config, bedmesh): self.orig_config = {'radius': None, 'origin': None} self.radius = self.origin = None self.mesh_min = self.mesh_max = (0., 0.) + self.adaptive_margin = config.getfloat('adaptive_margin', 0.0) self.zero_ref_pos = config.getfloatlist( "zero_reference_position", None, count=2 ) @@ -573,6 +573,113 @@ 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 set_adaptive_mesh(self, gcmd): + if not gcmd.get_int('ADAPTIVE', 0): + return False + exclude_objects = self.printer.lookup_object("exclude_object", None) + if exclude_objects is None: + gcmd.respond_info("Exclude objects not enabled. Using full mesh...") + return False + objects = exclude_objects.get_status().get("objects", []) + if not objects: + return False + margin = gcmd.get_float('ADAPTIVE_MARGIN', self.adaptive_margin) + + # 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(objects))) + for obj in 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 - margin for x in mesh_min] + adjusted_mesh_max = [x + 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 + self._profile_name = None + return True def update_config(self, gcmd): # reset default configuration self.radius = self.orig_config['radius'] @@ -616,6 +723,8 @@ def update_config(self, gcmd): self.mesh_config['algo'] = gcmd.get('ALGORITHM').strip().lower() need_cfg_update = True + need_cfg_update |= self.set_adaptive_mesh(gcmd) + if need_cfg_update: self._verify_algorithm(gcmd.error) self._generate_points(gcmd.error) @@ -781,7 +890,8 @@ def probe_finalize(self, offsets, positions): z_mesh.set_zero_reference(*self.zero_ref_pos) self.bedmesh.set_mesh(z_mesh) self.gcode.respond_info("Mesh Bed Leveling Complete") - self.bedmesh.save_profile(self._profile_name) + if self._profile_name is not None: + self.bedmesh.save_profile(self._profile_name) def _dump_points(self, probed_pts, corrected_pts, offsets): # logs generated points with offset applied, points received # from the finalize callback, and the list of corrected points