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[Touch][Threshold] Corrects Attempt After Max Retry & STD to MAX #202

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merged 6 commits into from
Dec 16, 2024
Merged

[Touch][Threshold] Corrects Attempt After Max Retry & STD to MAX #202

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419991a
should fix weird error after final attempt
krautech Dec 15, 2024
8109a54
remove useless else stamement
krautech Dec 15, 2024
72bcfb6
change weird result to all std_deviation
krautech Dec 15, 2024
f24ffe7
change back
krautech Dec 15, 2024
8d16dbf
changed std dev to max dev
krautech Dec 15, 2024
ad9e639
increment to v0.0.5
krautech Dec 16, 2024
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120 changes: 62 additions & 58 deletions scanner.py
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Original file line number Diff line number Diff line change
Expand Up @@ -170,7 +170,7 @@
)

atypes = {"median": "median", "average": "average"}
self.samples_config = {

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"samples": config.getfloat("samples", 5, above=0.0),
"retract_dist": config.getfloat("samples_retract_dist", 5, above=0.0),
"tolerance": config.getfloat("samples_tolerance", 0.2, minval=0.0),
Expand Down Expand Up @@ -215,7 +215,7 @@
"scanner_touch_max_speed", 10, above=0, maxval=30
)
## NEW VARIABLES HERE
self.scanner_touch_config = {

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"accel": config.getfloat("scanner_touch_accel", 100, above=0, minval=100),
"max_speed": max_speed_value,
"speed": config.getfloat("scanner_touch_speed", 3, maxval=max_speed_value),
Expand All @@ -241,7 +241,7 @@
raise self.printer.command_error(
"Please change detect_threshold_z to scanner_touch_threshold in printer.cfg"
)
self.detect_threshold_z = self.scanner_touch_config["threshold"]

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self.previous_probe_success = None

self.cal_config = {
Expand Down Expand Up @@ -278,7 +278,7 @@
self._stream_buffer = []
self._stream_buffer_limit = STREAM_BUFFER_LIMIT_DEFAULT
self._stream_buffer_limit_new = self._stream_buffer_limit
self._stream_samples_queue = queue.Queue()

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self._stream_flush_event = threading.Event()
self._log_stream = None
self._data_filter = AlphaBetaFilter(
Expand Down Expand Up @@ -314,7 +314,7 @@
)
self._mcu.register_config_callback(self._build_config)
self._mcu.register_response(
self._handle_scanner_data, self.sensor.lower() + "_data"

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)
# Register webhooks
webhooks = self.printer.lookup_object("webhooks")
Expand Down Expand Up @@ -400,11 +400,11 @@
self.calibration_method = "scan"
self._start_calibration(gcmd)

def _get_common_variables(self, gcmd: GCodeCommand):

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return {

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"speed": gcmd.get_float(
"SPEED",
self.scanner_touch_config["speed"],

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above=0,
maxval=self.scanner_touch_config["max_speed"],
),
Expand Down Expand Up @@ -461,7 +461,6 @@
manual_z_offset = gcmd.get_float(
"Z_OFFSET", self.scanner_touch_config["z_offset"], minval=0
)

# Debugging information
self.log_debug_info(
vars["verbose"],
Expand Down Expand Up @@ -561,7 +560,7 @@

result = self.start_touch(gcmd, touch_settings, vars["verbose"])

standard_deviation = result["standard_deviation"]
max_deviation = result["max_deviation"]
final_position = result["final_position"]
retries = result["retries"]
success = result["success"]
Expand All @@ -577,7 +576,7 @@
self.log_debug_info(
vars["verbose"],
gcmd,
f"Standard Deviation: {standard_deviation:.4f}",
f"Maximum Deviation: {max_deviation:.4f}",
)
if calibrate == 1:
self._calibrate(
Expand Down Expand Up @@ -610,6 +609,7 @@
randomize = touch_settings.randomize

original_threshold = self.detect_threshold_z
deviation = None
try:
self.detect_threshold_z = test_threshold
# Set the initial position for the toolhead
Expand All @@ -623,6 +623,13 @@
original_position = initial_position[:]

while len(samples) < num_samples:
if retries >= max_retries:
self.detect_threshold_z = original_threshold
self.trigger_method = TriggerMethod.SCAN
self._zhop()
raise gcmd.error(
f"Exceeded maximum attempts [{retries}/{int(max_retries)}]"
)
if randomize > 0 and new_retry:
# Generate random offsets
x_offset = random.uniform(-randomize, randomize)
Expand All @@ -649,6 +656,7 @@
)
except self.printer.command_error as e:
if self.printer.is_shutdown():
self.detect_threshold_z = original_threshold
self.trigger_method = TriggerMethod.SCAN
raise self.printer.command_error(
"Touch procedure interrupted due to printer shutdown"
Expand All @@ -674,12 +682,6 @@

deviation = round(deviation, 4)
if deviation > tolerance:
if retries >= max_retries:
self.trigger_method = TriggerMethod.SCAN
self._zhop()
raise gcmd.error(
f"Exceeded maximum attempts [{retries}/{int(max_retries)}]"
)
self.log_debug_info(
verbose,
gcmd,
Expand All @@ -698,42 +700,45 @@
f"Deviation: {deviation:.4f}\nNew Average: {average:.4f}\nTolerance: {tolerance:.4f}",
)

std_dev = np.std(samples)
gcmd.respond_info(
f"Completed {len(samples)} touches with a standard deviation of {std_dev:.4f}"
)
position_difference = initial_position[2] - self.toolhead.get_position()[2]
adjusted_difference = initial_position[2] - np.mean(samples)
self.log_debug_info(
verbose,
gcmd,
f"Position Difference: {position_difference:.4f}\nAdjusted Difference: {adjusted_difference:.4f}",
)
if len(samples) == num_samples and deviation <= tolerance:
gcmd.respond_info(
f"Completed {len(samples)} touches with a max deviation of {deviation:.4f}"
)
position_difference = (
initial_position[2] - self.toolhead.get_position()[2]
)
adjusted_difference = initial_position[2] - np.mean(samples)
self.log_debug_info(
verbose,
gcmd,
f"Position Difference: {position_difference:.4f}\nAdjusted Difference: {adjusted_difference:.4f}",
)

initial_position[2] = float(adjusted_difference - position_difference)
formatted_position = [f"{coord:.2f}" for coord in initial_position]
self.log_debug_info(
verbose, gcmd, f"Updated Initial Position: {formatted_position}"
)
if manual_z_offset > 0:
gcmd.respond_info(f"Offsetting by {manual_z_offset:.3f}")
initial_position[2] = initial_position[2] - manual_z_offset
self.toolhead.set_position(initial_position)
self.toolhead.wait_moves()
self.toolhead.flush_step_generation()
self.trigger_method = TriggerMethod.SCAN
self.previous_probe_success = 1
initial_position[2] = float(adjusted_difference - position_difference)
formatted_position = [f"{coord:.2f}" for coord in initial_position]
self.log_debug_info(
verbose, gcmd, f"Updated Initial Position: {formatted_position}"
)
if manual_z_offset > 0:
gcmd.respond_info(f"Offsetting by {manual_z_offset:.3f}")
initial_position[2] = initial_position[2] - manual_z_offset
self.toolhead.set_position(initial_position)
self.toolhead.wait_moves()
self.toolhead.flush_step_generation()
self.trigger_method = TriggerMethod.SCAN
self.previous_probe_success = 1

# Return relevant data
self.detect_threshold_z = original_threshold
# Return relevant data
self.detect_threshold_z = original_threshold
return {
"samples": samples,
"standard_deviation": std_dev,
"max_deviation": deviation,
"final_position": initial_position,
"retries": retries,
"success": self.previous_probe_success,
}
except self.printer.command_error:
self.detect_threshold_z = original_threshold
self.trigger_method = TriggerMethod.SCAN
if hasattr(kinematics, "note_z_not_homed"):
kinematics.note_z_not_homed()
Expand Down Expand Up @@ -791,7 +796,7 @@
max_acceptable_retries = round(
confirmation_retries * THRESHOLD_ACCEPTANCE_FACTOR
)
max_acceptable_std_dev = vars["target"]
max_acceptable_max_dev = vars["target"]

verbose = vars["verbose"]

Expand Down Expand Up @@ -876,8 +881,8 @@
if result["success"]:
# Check if this result meets "good" criteria
if result["retries"] <= max_acceptable_retries and (
result["standard_deviation"] is not None
and result["standard_deviation"] <= max_acceptable_std_dev
result["max_deviation"] is not None
and result["max_deviation"] <= max_acceptable_max_dev
):
# Increase threshold_max by 3 steps above the current threshold, only if it hasn't been increased before
if not has_increased_threshold_max:
Expand All @@ -898,24 +903,23 @@
gcmd, touch_settings, verbose
)
if not repeat_result["success"] or (
repeat_result["standard_deviation"]
> max_acceptable_std_dev
repeat_result["max_deviation"] > max_acceptable_max_dev
):
gcmd.respond_info(
f"Qualify attempt {attempt + 1} failed for threshold {current_threshold}"
)
consistent_results = False
break
gcmd.respond_info(
f"Qualify attempt {attempt + 1} successful with std dev: {repeat_result['standard_deviation']:.5f}"
f"Qualify attempt {attempt + 1} successful with max dev: {repeat_result['max_deviation']:.5f}"
)

# Save only successful repeat attempts in results
result["consistent_results"] = (
consistent_results # Mark if it passed repeatability checks
)
result["standard_deviation"] = (
repeat_result["standard_deviation"]
result["max_deviation"] = (
repeat_result["max_deviation"]
if consistent_results
else None
)
Expand Down Expand Up @@ -946,13 +950,13 @@
return # Exit as there's no best threshold to save

if consistent_results:
# Find the best consistent result based on minimum retries and standard deviation
# Find the best consistent result based on minimum retries and max deviation
best_result = min(
consistent_results,
key=lambda x: (
x["retries"],
x["standard_deviation"]
if x["standard_deviation"] is not None
x["max_deviation"]
if x["max_deviation"] is not None
else float("inf"),
),
)
Expand All @@ -964,8 +968,8 @@
results,
key=lambda x: (
x["retries"],
x["standard_deviation"]
if x["standard_deviation"] is not None
x["max_deviation"]
if x["max_deviation"] is not None
else float("inf"),
),
)
Expand All @@ -976,21 +980,21 @@
self.detect_threshold_z = best_threshold
self._save_threshold(best_threshold, vars["speed"])

# Handle None for standard deviation by using a default message
std_dev_display = (
f"{best_result['standard_deviation']:.5f}"
if best_result["standard_deviation"] is not None
# Handle None for max deviation by using a default message
max_dev_display = (
f"{best_result['max_deviation']:.5f}"
if best_result["max_deviation"] is not None
else "N/A"
)

# Inform the user about the result
if optimal_found:
gcmd.respond_info(
f"Optimal Threshold Determined: {best_threshold} with standard deviation of {std_dev_display}"
f"Optimal Threshold Determined: {best_threshold} with max deviation of {max_dev_display}"
)
else:
gcmd.respond_info(
f"No fully optimal threshold found. Best attempt: {best_threshold} with standard deviation of {std_dev_display}"
f"No fully optimal threshold found. Best attempt: {best_threshold} with max deviation of {max_dev_display}"
)
gcmd.respond_info(
f"You can now {format_macro('SAVE_CONFIG')} to save your threshold."
Expand Down Expand Up @@ -1098,7 +1102,7 @@
f"Deviation: {deviation:.4f}\nNew Average: {average:.4f}\nTolerance: {tolerance:.4f}",
)

std_dev = np.std(samples) if samples else None
max_dev = np.std(samples) if samples else None
if len(samples) == num_samples:
success = True
position_difference = (
Expand All @@ -1111,7 +1115,7 @@
f"Position Difference: {position_difference:.4f}\nAdjusted Difference: {adjusted_difference:.4f}",
)
else:
std_dev = None
max_dev = None
success = False

self.toolhead.wait_moves()
Expand All @@ -1121,7 +1125,7 @@
# Return relevant data
return {
"samples": samples,
"standard_deviation": std_dev,
"max_deviation": max_dev,
"final_position": initial_position,
"retries": retries,
"success": success,
Expand Down Expand Up @@ -3248,7 +3252,7 @@
pa = (begin_a, pos_p) if even else (end_a, pos_p)
pb = (end_a, pos_p) if even else (begin_a, pos_p)

l = (pa, pb)

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if len(points) > 0 and corner_radius > 0:
# We need to insert an overscan corner. Basically we insert
Expand Down
2 changes: 1 addition & 1 deletion scripts/firmware.py
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Original file line number Diff line number Diff line change
Expand Up @@ -28,7 +28,7 @@
ClassVar,
)

FLASHER_VERSION: str = "0.0.4"
FLASHER_VERSION: str = "0.0.5"

PAGE_WIDTH: int = 89 # Default global width

Expand Down
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