Duet Tool Align

A DuetWebControl (DWC) plugin that performs automated, camera-based XY tool-offset alignment for RepRapFirmware toolchangers — a fully in-browser take on TAMV / kTAMV.

A camera points up at the nozzle; the plugin uses computer vision (OpenCV.js, WASM) to find the nozzle tip, jogs each tool over the lens, and computes the per-tool G10 X/Y offsets automatically.

Compatibility: requires the Vue 3 / Vuetify 4 DWC (3.7-alpha or later). It will not load on the older Vue 2 DWC (3.5 / 3.6).

How it works

• Frames come from duet-webcam-bridge (v0.5+, which adds CORS headers so the browser can read camera pixels, and serves the OpenCV.js runtime at /opencv/). Point the plugin at the bridge URL in its settings.
• Detection runs OpenCV.js entirely in the browser — no second service to install.
• Calibration jogs a small star of known moves and solves a pixel→mm transform.
• Alignment iteratively centres each nozzle on the crosshair, records the machine XY, and derives per-tool offsets from the chosen origin.

Scope is XY only (matching TAMV's core); Z offsets stay with your existing method.

📖 Full instructions: docs/usage.md — setup, both offset workflows, detection tuning, the settings reference, and troubleshooting.

Two offset workflows

Set the origin in Settings → Reference:

• Reference tool (e.g. T0) — that tool is the origin; other tools are measured relative to it. The common RRF-toolchanger convention.
• Carriage datum (e.g. the E3D toolchanger switch) — a fixed carriage point is the origin; capture it once and every tool (T0 included) is offset from it.

See docs/usage.md §4–5 for step-by-step.

Install

1. Download DuetToolAlign-<version>.zip from Releases (or build it — see below).
2. In DWC: Settings → General → Plugins → Install Plugin, pick the ZIP, accept the prompt, Start.
3. Reload DWC, open Plugins → Tool Align, set the camera bridge URL, set the camera position, tune with Detect, then Calibrate → Run full alignment.

Requires duet-webcam-bridge ≥ 0.5.1 (camera CORS + the OpenCV.js runtime at /opencv/). It's also exposed as an embeddable component, so if Flexible Layouts is installed you can drop the Auto Tool Align panel straight into a grid.

Releasing

npm run release -- <version> --push bumps plugin.json+package.json, commits, tags vX.Y.Z, and pushes; the release workflow then builds the ZIP against DWC and publishes a GitHub Release with generated notes. Updates are surfaced in-app (and in Flexible Layouts' unified update popup via the shared dwc-plugin-runtime hub).

Status

The pure CV/calibration/control maths and the motion/G-code orchestration are unit-tested (npm test). Single-tool detection/calibration/centring is exercisable on hardware; multi-tool sequences await a multi-tool machine. This started as a standalone plugin and is intended to fold into Flexible Layouts once proven — the offset maths (src/util/toolAlign.ts) is copied verbatim from FL to keep that merge trivial.

Building

The plugin is built against a local checkout of the Vue 3 DWC source (like Flexible Layouts).

npm install                                          # once, in this repo
npm run build-plugin-pkg -- /path/to/duet-tool-align   # from your DWC checkout

On Windows, edit DWC_DIR at the top of build.bat and run it — the installable ZIP lands in this folder.

• npm test — vitest unit tests (geometry, calibration, alignment loop, detection helpers, orchestration G-code contract, widget mount).
• DWC_DIR=… npm run typecheck — type-check against the DWC checkout.
• DWC_DIR=… npm run verify-build — confirm it bundles into an installable ZIP.

CI (.github/workflows/ci.yml) runs the unit tests plus a build + type-check against DWC on every push, via the shared dwc-plugin-test-kit reusable workflow.

License

GPL-3.0-or-later