Store calibration results

examples/calibrate-offsets.cfg

@@ -39,6 +39,21 @@ gcode:
         M104 S0
     {% endfor %}
 
+[gcode_macro CALIBRATE_STORE_TOOL_OFFSETS]
+gcode:
+    T0
+    CALIBRATE_MOVE_OVER_PROBE
+    M109 S150  # Heat up as much as possible without oozing to account for any thermal deformations
+    TOOL_LOCATE_SENSOR
+    M104 S0
+    # Other tools
+    {% for tool in [1,2,3] %}
+        T{tool}
+        M109 S150
+        TOOL_CALIBRATE_STORE_TOOL_OFFSET TOOL_NUMBER={tool}
+        M104 S0
+    {% endfor %}
+
 [gcode_macro CALIBRATE_NOZZLE_PROBE_OFFSET]
 gcode:    
     CALIBRATE_MOVE_OVER_PROBE

examples/tapchanger/toolchanger.cfg

@@ -76,7 +76,12 @@
     # Wait for temp before actually picking up the tool, while the nozzle is resting on it's pad.
 
     {% if tool.extruder %}
-      M109 T{tool.tool_number} S{printer[tool.extruder].target|int}
+      {% set deltaT = printer[tool.extruder].target-printer[tool.extruder].temperature|int %}
+      {% if deltaT > 10 %}
+        M109 T{tool.tool_number} S{printer[tool.extruder].target|int}
+      {% else %}
+	      M104 T{tool.tool_number} S{printer[tool.extruder].target|int}
+      {% endif %}
     {% endif %}
     # Run the path in reverse
     {% for pos in path|reverse %}

klipper/extras/tool_probe.py

@@ -66,6 +66,8 @@ def __init__(self, config, mcu_probe):
                                                  minval=0.)
         self.samples_retries = config.getint('samples_tolerance_retries', 0,
                                              minval=0)
+        # Settling sample support
+        self.settling_sample = config.getboolean('settling_sample', False)
         # Session state
         self.multi_probe_pending = False
         self.results = []
@@ -94,6 +96,15 @@ def end_probe_session(self):
         self.results = []
         self.multi_probe_pending = False
         self.mcu_probe.multi_probe_end()
+    def _run_settling_probe(self, gcmd):
+        """Perform a settling probe before the main probe."""
+        toolhead = self.printer.lookup_object('toolhead')        
+        probexy = toolhead.get_position()[:2]
+        speed = gcmd.get_float("SETTLING_SPEED", self.speed, above=0.)
+        pos = self._probe(speed)
+        # Retract after settling
+        toolhead.manual_move(probexy + [pos[2] + self.sample_retract_dist], self.lift_speed)
+        gcmd.respond_info("Sample throwed")
     def get_probe_params(self, gcmd=None):
         if gcmd is None:
             gcmd = self.dummy_gcode_cmd
@@ -139,6 +150,8 @@ def run_probe(self, gcmd):
         if not self.multi_probe_pending:
             self._probe_state_error()
         params = self.get_probe_params(gcmd)
+        if self.settling_sample:
+            self._run_settling_probe(gcmd)
         toolhead = self.printer.lookup_object('toolhead')
         probexy = toolhead.get_position()[:2]
         retries = 0

klipper/extras/tools_calibrate.py

@@ -4,6 +4,7 @@
 # Sourced from https://github.com/ben5459/Klipper_ToolChanger/blob/master/probe_multi_axis.py
 
 import logging
+import os
 
 direction_types = {'x+': [0, +1], 'x-': [0, -1], 'y+': [1, +1], 'y-': [1, -1],
                    'z+': [2, +1], 'z-': [2, -1]}
@@ -51,6 +52,9 @@ def __init__(self, config):
         self.gcode.register_command('TOOL_CALIBRATE_TOOL_OFFSET',
                                     self.cmd_TOOL_CALIBRATE_TOOL_OFFSET,
                                     desc=self.cmd_TOOL_CALIBRATE_TOOL_OFFSET_help)
+        self.gcode.register_command('TOOL_CALIBRATE_STORE_TOOL_OFFSET',
+                                    self.cmd_TOOL_CALIBRATE_STORE_TOOL_OFFSET,
+                                    desc=self.cmd_TOOL_CALIBRATE_STORE_TOOL_OFFSET_help)
         self.gcode.register_command('TOOL_CALIBRATE_SAVE_TOOL_OFFSET',
                                     self.cmd_TOOL_CALIBRATE_SAVE_TOOL_OFFSET,
                                     desc=self.cmd_TOOL_CALIBRATE_SAVE_TOOL_OFFSET_help)
@@ -132,6 +136,31 @@ def cmd_TOOL_CALIBRATE_TOOL_OFFSET(self, gcmd):
                                 % (self.last_result[0], self.last_result[1],
                                    self.last_result[2]))
 
+    cmd_TOOL_CALIBRATE_STORE_TOOL_OFFSET_help = "Calibrate current tool offset relative to tool 0 and save results"
+
+    def cmd_TOOL_CALIBRATE_STORE_TOOL_OFFSET(self, gcmd):
+        tool_number = gcmd.get_int('TOOL_NUMBER')
+        if not self.sensor_location:
+            raise gcmd.error("No recorded sensor location, please run TOOL_LOCATE_SENSOR first")
+
+        location = self.locate_sensor(gcmd)
+        self.last_result = [loc - sensor_loc for loc, sensor_loc in zip(location, self.sensor_location)]
+
+        tool_offset_info = "Tool offset for tool {} is {:.6f},{:.6f},{:.6f}".format(
+            tool_number, *self.last_result)
+        self.gcode.respond_info(tool_offset_info)
+
+        home_dir = os.path.expanduser("~")
+        results_dir = os.path.join(home_dir, "printer_data/config/tools_calibrate_results")
+
+        os.makedirs(results_dir, exist_ok=True)
+
+        filename = os.path.join(results_dir, f"tool_{tool_number}_offset.txt")
+
+        with open(filename, "a") as f:
+            f.write("Tool {} offset is {:.6f},{:.6f},{:.6f}\n".format(
+                tool_number, *self.last_result))
+
     cmd_TOOL_CALIBRATE_SAVE_TOOL_OFFSET_help = "Save tool offset calibration to config"
 
     def cmd_TOOL_CALIBRATE_SAVE_TOOL_OFFSET(self, gcmd):