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support twist compesation

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Sgr A* VMT
2024-01-28 22:59:15 +08:00
parent a6c79406d5
commit ecd996b61b
1 changed files with 9 additions and 10 deletions
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19
idm.py
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@@ -269,15 +269,7 @@ class IDMProbe:
# correct height and take a new sample. # correct height and take a new sample.
self._move_to_probing_height(speed) self._move_to_probing_height(speed)
(dist, samples) = self._sample(self.z_settling_time, num_samples) (dist, samples) = self._sample(self.z_settling_time, num_samples)
# get z compensation from axis_twist_compensation
pos = samples[0]["pos"] pos = samples[0]["pos"]
axis_twist_compensation = self.printer.lookup_object(
'axis_twist_compensation', None)
z_compensation = 0
if axis_twist_compensation is not None:
z_compensation = (
axis_twist_compensation.get_z_compensation_value(pos))
dist+=z_compensation
self.gcode.respond_info("probe at %.3f,%.3f,%.3f is z=%.6f" self.gcode.respond_info("probe at %.3f,%.3f,%.3f is z=%.6f"
% (pos[0], pos[1], pos[2], dist)) % (pos[0], pos[1], pos[2], dist))
@@ -466,11 +458,18 @@ class IDMProbe:
self._check_hardware(sample) self._check_hardware(sample)
def _enrich_sample(self, sample): def _enrich_sample(self, sample):
sample["dist"] = self.freq_to_dist(sample["freq"], sample["temp"])
pos, vel = self._get_trapq_position(sample["time"]) pos, vel = self._get_trapq_position(sample["time"])
# get z compensation from axis_twist_compensation
if pos is None: if pos is None:
sample["dist"] = self.freq_to_dist(sample["freq"], sample["temp"])
return return
axis_twist_compensation = self.printer.lookup_object(
'axis_twist_compensation', None)
z_compensation = 0
if axis_twist_compensation is not None:
z_compensation = (
axis_twist_compensation.get_z_compensation_value(pos))
sample["dist"] = self.freq_to_dist(sample["freq"], sample["temp"])+z_compensation
sample["pos"] = pos sample["pos"] = pos
sample["vel"] = vel sample["vel"] = vel