feat: adds basic axis_twist_compensation support (#1838)

Signed-off-by: Pedro Lamas <pedrolamas@gmail.com>

Author: pedrolamas

src/components/widgets/toolhead/ToolheadCard.vue

@@ -224,16 +224,15 @@ export default class ToolheadCard extends Mixins(StateMixin, ToolheadMixin) {
       this.printerSettings.bltouch != null ||
       this.printerSettings.smart_effector != null ||
       this.printerSettings.cartographer != null ||
-      (
-        this.printerSettings.scanner != null &&
-        'sensor' in this.printerSettings.scanner &&
-        this.printerSettings.scanner.sensor === 'cartographer'
-      ) ||
       Object.keys(this.printerSettings)
         .some(x => x.startsWith('probe_eddy_current '))
     )
   }
 
+  get printerSupportsAxisTwistCompensationCalibrate (): boolean {
+    return this.printerSettings.axis_twist_compensation != null
+  }
+
   get printerSupportsBeaconCalibrate (): boolean {
     return this.printerSettings.beacon != null
   }
@@ -242,6 +241,13 @@ export default class ToolheadCard extends Mixins(StateMixin, ToolheadMixin) {
     return this.printerSettings.cartographer != null
   }
 
+  get printerSupportsCartographerAxisTwistCompensation (): boolean {
+    return (
+      this.printerSettings.cartographer != null &&
+      this.printerSettings.axis_twist_compensation != null
+    )
+  }
+
   get printerSupportsZEndstopCalibrate (): boolean {
     return (
       this.printerSettings.stepper_z?.position_endstop != null
@@ -338,6 +344,14 @@ export default class ToolheadCard extends Mixins(StateMixin, ToolheadMixin) {
       })
     }
 
+    if (this.printerSupportsAxisTwistCompensationCalibrate) {
+      tools.push({
+        name: 'AXIS_TWIST_COMPENSATION_CALIBRATE',
+        disabled: !this.allHomed || this.isManualProbeActive,
+        wait: this.$waits.onAxisTwistCompensationCalibrate
+      })
+    }
+
     if (this.printerSupportsBeaconCalibrate) {
       tools.push({
         name: 'BEACON_AUTO_CALIBRATE',
@@ -376,6 +390,14 @@ export default class ToolheadCard extends Mixins(StateMixin, ToolheadMixin) {
       })
     }
 
+    if (this.printerSupportsCartographerAxisTwistCompensation) {
+      tools.push({
+        name: 'CARTOGRAPHER_AXIS_TWIST_COMPENSATION',
+        disabled: !this.allHomed || this.isManualProbeActive,
+        wait: this.$waits.onCartographerAxisTwistCompensation
+      })
+    }
+
     if (this.printerSupportsDeltaCalibrate) {
       tools.push({
         name: 'DELTA_CALIBRATE',

src/globals.ts

@@ -577,6 +577,7 @@ export const Waits = Object.freeze({
   onHomeZ: 'onHomeZ',
   onQGL: 'onQGL',
   onZTilt: 'onZTilt',
+  onAxisTwistCompensationCalibrate: 'onAxisTwistCompensationCalibrate',
   onBedScrewsAdjust: 'onBedScrewAdjust',
   onDatabaseList: 'onDatabaseList',
   onDatabaseCompact: 'onDatabaseCompact',
@@ -585,6 +586,7 @@ export const Waits = Object.freeze({
   onDatabaseDeleteBackup: 'onDatabaseDeleteBackup',
   onBedScrewsCalculate: 'onBedScrewsCalculate',
   onBedTiltCalibrate: 'onBedTiltCalibrate',
+  onCartographerAxisTwistCompensation: 'onCartographerAxisTwistCompensation',
   onCartographerScanCalibrate: 'onCartographerScanCalibrate',
   onCartographerTouchCalibrate: 'onCartographerTouchCalibrate',
   onDeltaCalibrate: 'onDeltaCalibrate',

src/typings/klipper.d.ts

@@ -880,6 +880,8 @@ declare namespace Klipper {
 
       [key: `temperature_probe ${Lowercase<string>}`]: TemperatureProbeSettings;
 
+      axis_twist_compensation: AxisTwistCompensationSettings;
+
       safe_z_home: SafeZHomeSettings;
 
       z_tilt: ZTiltSettings;
@@ -1163,6 +1165,19 @@ declare namespace Klipper {
     smooth_time: number;
   }
 
+  export interface AxisTwistCompensationSettings {
+    horizontal_move_z: number;
+    speed: number;
+    z_compensations: number[];
+    zy_compensations: number[];
+    calibrate_start_x?: number;
+    calibrate_end_x?: number;
+    calibrate_y?: number;
+    calibrate_start_y?: number;
+    calibrate_end_y?: number;
+    calibrate_x?: number;
+  }
+
   export interface SafeZHomeSettings {
     home_xy_position: [number, number]
     z_hop: number;