adaptive horizontal move z

README.md

@@ -118,6 +118,8 @@ See the [Danger Features document](https://dangerklipper.io/Danger_Features.html
 
 - [mcu: support for AT32F403](https://github.com/DangerKlippers/danger-klipper/pull/284)
 
+- [z_tilt, quad_gantry_level: adaptive horizontal move z](https://github.com/DangerKlippers/danger-klipper/pull/336)
+
 If you're feeling adventurous, take a peek at the extra features in the bleeding-edge-v2 branch [feature documentation](docs/Bleeding_Edge.md)
 and [feature configuration reference](docs/Config_Reference_Bleeding_Edge.md):
 

docs/Config_Reference.md

@@ -1378,6 +1378,15 @@ extended [G-Code command](G-Codes.md#z_tilt) becomes available.
 #horizontal_move_z: 5
 #   The height (in mm) that the head should be commanded to move to
 #   just prior to starting a probe operation. The default is 5.
+#min_horizontal_move_z: 1.0
+#   minimum value for horizontal move z 
+#   (only used when adaptive_horizontal_move_z is True)
+#adaptive_horizontal_move_z: False
+#   if we should adjust horizontal move z after the first adjustment round,
+#   based on error.
+#   when set to True, initial horizontal_move_z is the config value, 
+#   subsequent iterations will set horizontal_move_z to
+#   the ceil of error, or min_horizontal_move_z - whichever is greater.
 #retries: 0
 #   Number of times to retry if the probed points aren't within
 #   tolerance.
@@ -1391,6 +1400,7 @@ extended [G-Code command](G-Codes.md#z_tilt) becomes available.
 #increasing_threshold: 0.0000001
 #   Sets the threshold that probe points can increase before z_tilt aborts.
 #   To disable the validation, set this parameter to a high value.
+
 ```
 
 #### [z_tilt_ng]
@@ -1413,6 +1423,10 @@ extended [G-Code command](G-Codes.md#z_tilt) becomes available.
 # See [z_tilt]
 #horizontal_move_z: 5
 # See [z_tilt]
+#min_horizontal_move_z: 1.0
+# See [z_tilt]
+#adaptive_horizontal_move_z: False
+# See [z_tilt]
 #retries: 0
 # See [z_tilt]
 #retry_tolerance: 0
@@ -1487,6 +1501,15 @@ Where x is the 0, 0 point on the bed
 #horizontal_move_z: 5
 #   The height (in mm) that the head should be commanded to move to
 #   just prior to starting a probe operation. The default is 5.
+#min_horizontal_move_z: 1.0
+#   minimum value for horizontal move z 
+#   (only used when adaptive_horizontal_move_z is True)
+#adaptive_horizontal_move_z: False
+#   if we should adjust horizontal move z after the first adjustment round,
+#   based on error.
+#   when set to True, initial horizontal_move_z is the config value, 
+#   subsequent iterations will set horizontal_move_z to
+#   the ceil of error, or min_horizontal_move_z - whichever is greater.
 #max_adjust: 4
 #   Safety limit if an adjustment greater than this value is requested
 #   quad_gantry_level will abort.

docs/Danger_Features.md

@@ -32,7 +32,7 @@
 - [`[z_calibration]`](./Config_Reference.md#⚠️-z_calibration) enables automatic probe Z offset calibration using a reference endstop like the Voron 2.4 nozzle endstop.
 - [`[z_tilt_ng]`](./Config_Reference.md#z_tilt_ng) adds enforced 3-point z tilt calibration
 - [`[z_tilt/quad_gantry_level] increasing_threshold`](./Config_Reference.md#z_tilt) allows you to customize the allowed variation when probing multiple times
-
+- [`[z_tilt/quad_gantry_level] adaptive_horizontal_move_z`](./Config_Reference.md#z_tilt) adaptively decrease horizontal_move_z based on resulting error - z_tilt and QGL faster and safer!
 ## Heaters, Fans, and PID changes
 - [Model Predictive Control](./MPC.md) is an advanced temperature control method that offers an alternative to traditional PID control.
 - [Velocity PID](./PID.md) can be more accurate than positional PID, but is more susceptible to noisy sensors and may require larger smoothing times

klippy/extras/probe.py

@@ -5,6 +5,7 @@
 # This file may be distributed under the terms of the GNU GPLv3 license.
 import logging
 import pins
+import math
 from . import manual_probe
 
 HINT_TIMEOUT = """
@@ -493,6 +494,12 @@ def __init__(
             )
         def_move_z = config.getfloat("horizontal_move_z", 5.0)
         self.default_horizontal_move_z = def_move_z
+        self.adaptive_horizontal_move_z = config.getboolean(
+            "adaptive_horizontal_move_z", False
+        )
+        self.min_horizontal_move_z = config.getfloat(
+            "min_horizontal_move_z", 1.0
+        )
         self.speed = config.getfloat("speed", 50.0, above=0.0)
         self.use_offsets = False
         # Internal probing state
@@ -519,21 +526,38 @@ def use_xy_offsets(self, use_offsets):
     def get_lift_speed(self):
         return self.lift_speed
 
-    def _move_next(self):
+    def _lift_toolhead(self):
         toolhead = self.printer.lookup_object("toolhead")
         # Lift toolhead
         speed = self.lift_speed
         if not self.results:
             # Use full speed to first probe position
             speed = self.speed
         toolhead.manual_move([None, None, self.horizontal_move_z], speed)
+
+    def _move_next(self):
+        toolhead = self.printer.lookup_object("toolhead")
         # Check if done probing
+        done = False
         if len(self.results) >= len(self.probe_points):
             toolhead.get_last_move_time()
             res = self.finalize_callback(self.probe_offsets, self.results)
-            if res != "retry":
-                return True
+            if isinstance(res, (int, float)):
+                if res == 0:
+                    done = True
+                if self.adaptive_horizontal_move_z:
+                    # then res is error
+                    error = math.ceil(res)
+                    self.horizontal_move_z = max(
+                        error + self.probe_offsets[2],
+                        self.min_horizontal_move_z,
+                    )
+            elif res != "retry":
+                done = True
             self.results = []
+        self._lift_toolhead()
+        if done:
+            return True
         # Move to next XY probe point
         nextpos = list(self.probe_points[len(self.results)])
         if self.use_offsets:
@@ -548,8 +572,10 @@ def start_probe(self, gcmd):
         probe = self.printer.lookup_object("probe", None)
         method = gcmd.get("METHOD", "automatic").lower()
         self.results = []
+
         def_move_z = self.default_horizontal_move_z
         self.horizontal_move_z = gcmd.get_float("HORIZONTAL_MOVE_Z", def_move_z)
+
         if probe is None or method != "automatic":
             # Manual probe
             self.lift_speed = self.speed

klippy/extras/z_tilt.py

@@ -83,7 +83,7 @@ def __init__(self, printer):
         )
 
     def check_retry_result(self, retry_result):
-        if retry_result == "done":
+        if (retry_result and int(retry_result) == 0) or retry_result == "done":
             self.applied = True
         return retry_result
 
@@ -155,11 +155,11 @@ def check_retry(self, z_positions):
                 % (self.value_label, self.error_msg_extra)
             )
         if error <= self.retry_tolerance:
-            return "done"
+            return 0.0
         self.current_retry += 1
         if self.current_retry > self.max_retries:
             raise self.gcode.error("Too many retries")
-        return "retry"
+        return error
 
 
 class ZTilt:

klippy/extras/z_tilt_ng.py

@@ -105,7 +105,7 @@ def __init__(self, printer):
         )
 
     def check_retry_result(self, retry_result):
-        if retry_result == "done":
+        if (retry_result and int(retry_result) == 0) or retry_result == "done":
             self.applied = True
         return retry_result
 
@@ -177,11 +177,11 @@ def check_retry(self, z_positions):
                 % (self.value_label, self.error_msg_extra)
             )
         if error <= self.retry_tolerance:
-            return "done"
+            return 0.0
         self.current_retry += 1
         if self.current_retry > self.max_retries:
             raise self.gcode.error("Too many retries")
-        return "retry"
+        return error
 
 
 class ZTilt: