screws_tilt_adjust: add option to compute probe-relative points automatically, as well as raise z at the end

klippy/extras/screws_tilt_adjust.py

@@ -15,28 +15,23 @@ def __init__(self, config):
         self.results = []
         self.max_diff = None
         self.max_diff_error = False
-        # Read config
-        for i in range(99):
-            prefix = "screw%d" % (i + 1,)
-            if config.get(prefix, None) is None:
-                break
-            screw_coord = config.getfloatlist(prefix, count=2)
-            screw_name = "screw at %.3f,%.3f" % screw_coord
-            screw_name = config.get(prefix + "_name", screw_name)
-            self.screws.append((screw_coord, screw_name))
-        if len(self.screws) < 3:
-            raise config.error("screws_tilt_adjust: Must have "
-                               "at least three screws")
+        self.end_z = config.getfloat("end_z", None)
+
+        use_bed_screws = config.get("use_bed_screws", "no").lower()
+        if use_bed_screws in ["yes", "true", "1"]:
+            self.need_probe_offsets = True
+            self._load_screws_from_bed_screws()
+        else:
+            self.need_probe_offsets = False
+            self._load_screws(self.config)
         self.threads = {'CW-M3': 0, 'CCW-M3': 1, 'CW-M4': 2, 'CCW-M4': 3,
                         'CW-M5': 4, 'CCW-M5': 5, 'CW-M6': 6, 'CCW-M6': 7}
         self.thread = config.getchoice('screw_thread', self.threads,
                                        default='CW-M3')
         # Initialize ProbePointsHelper
-        points = [coord for coord, name in self.screws]
         self.probe_helper = probe.ProbePointsHelper(self.config,
                                                     self.probe_finalize,
-                                                    default_points=points)
-        self.probe_helper.minimum_points(3)
+                                                    default_points=[(0,0)])
         # Register command
         self.gcode = self.printer.lookup_object('gcode')
         self.gcode.register_command("SCREWS_TILT_CALCULATE",
@@ -46,6 +41,52 @@ def __init__(self, config):
                                      "screws by calculating the number " \
                                      "of turns to level it."
 
+    def _load_screws_from_bed_screws(self):
+        config = self.config
+        if not config.has_section('bed_screws'):
+            raise config.error("screws_tilt_adjust: must have bed_screws "
+                    "if use_bed_screws is set")
+        bed_screws = config.getsection('bed_screws')
+        self._load_screws(bed_screws)
+
+    def _load_screws(self, config):
+        # Read config
+        for i in range(99):
+            prefix = "screw%d" % (i + 1,)
+            if config.get(prefix, None) is None:
+                break
+            screw_coord = config.getfloatlist(prefix, count=2)
+            screw_name = "screw at %.3f,%.3f" % screw_coord
+            screw_name = config.get(prefix + "_name", screw_name)
+            self.screws.append((screw_coord, screw_name))
+        if len(self.screws) < 3:
+            raise config.error("screws_tilt_adjust: Must have "
+                           "at least three screws")
+
+    def _offset_screws(self, gcmd):
+        if not self.need_probe_offsets:
+            return
+        th = self.printer.lookup_object('toolhead')
+        xrange = th.get_kinematics().rails[0].get_range()
+        yrange = th.get_kinematics().rails[1].get_range()
+        probe = self.printer.lookup_object('probe')
+        probe_x, probe_y, _ = probe.get_offsets()
+        for i in range(len(self.screws)):
+            screw_coord, screw_name = self.screws[i]
+            sx, sy = screw_coord
+            sx -= probe_x
+            sy -= probe_y
+            if xrange[0] >= sx or sx >= xrange[1]:
+                sx = max(xrange[0]+1.0, min(sx, xrange[1]-1.0))
+                gcmd.respond_info(f"screws_tilt_adjust: screw {screw_name} X"
+                        f"out of range, adjusting to {sx}")
+            if yrange[0] >= sy or sy >= yrange[1]:
+                sy = max(yrange[0]+1.0, min(sy, yrange[1]-1.0))
+                gcmd.respond_info(f"screws_tilt_adjust: screw {screw_name} Y"
+                        f"out of range, adjusting to {sy}")
+            self.screws[i] = ((sx, sy), screw_name)
+        self.need_probe_offsets = False
+
     def cmd_SCREWS_TILT_CALCULATE(self, gcmd):
         self.max_diff = gcmd.get_float("MAX_DEVIATION", None)
         # Option to force all turns to be in the given direction (CW or CCW)
@@ -57,6 +98,9 @@ def cmd_SCREWS_TILT_CALCULATE(self, gcmd):
                     "Error on '%s': DIRECTION must be either CW or CCW" % (
                         gcmd.get_commandline(),))
         self.direction = direction
+        self._offset_screws(gcmd)
+        points = [coord for coord, name in self.screws]
+        self.probe_helper.update_probe_points(points, 3)
         self.probe_helper.start_probe(gcmd)
 
     def get_status(self, eventtime):
@@ -65,6 +109,9 @@ def get_status(self, eventtime):
             'results': self.results}
 
     def probe_finalize(self, offsets, positions):
+        if self.end_z is not None:
+            th = self.printer.lookup_object('toolhead')
+            th.manual_move([None, None, self.end_z], 10)
         self.results = {}
         self.max_diff_error = False
         # Factors used for CW-M3, CCW-M3, CW-M4, CCW-M4, CW-M5, CCW-M5, CW-M6