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Klipper plugin refactoring with embedded macros

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This commit is contained in:
Félix Boisselier
2024-05-09 16:08:47 +02:00
parent d9060fed3b
commit 30a1910513
21 changed files with 762 additions and 644 deletions
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shaketune/macros/K-SnT_vibrations.cfg Normal file
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#########################################
###### MACHINE VIBRATIONS ANALYSIS ######
#########################################
# Written by Frix_x#0161 #
[gcode_macro CREATE_VIBRATIONS_PROFILE]
gcode:
{% set size = params.SIZE|default(100)|int %} # size of the circle where the angled lines are done
{% set z_height = params.Z_HEIGHT|default(20)|int %} # z height to put the toolhead before starting the movements
{% set max_speed = params.MAX_SPEED|default(200)|float * 60 %} # maximum feedrate for the movements
{% set speed_increment = params.SPEED_INCREMENT|default(2)|float * 60 %} # feedrate increment between each move
{% set feedrate_travel = params.TRAVEL_SPEED|default(200)|int * 60 %} # travel feedrate between moves
{% set accel = params.ACCEL|default(3000)|int %} # accel value used to move on the pattern
{% set accel_chip = params.ACCEL_CHIP|default("adxl345") %} # ADXL chip name in the config
{% set keep_results = params.KEEP_N_RESULTS|default(3)|int %}
{% set keep_csv = params.KEEP_CSV|default(0)|int %}
{% set mid_x = printer.toolhead.axis_maximum.x|float / 2 %}
{% set mid_y = printer.toolhead.axis_maximum.y|float / 2 %}
{% set min_speed = 2 * 60 %} # minimum feedrate for the movements is set to 2mm/s
{% set nb_speed_samples = ((max_speed - min_speed) / speed_increment + 1) | int %}
{% set accel = [accel, printer.configfile.settings.printer.max_accel]|min %}
{% set old_accel = printer.toolhead.max_accel %}
{% set old_cruise_ratio = printer.toolhead.minimum_cruise_ratio %}
{% set old_sqv = printer.toolhead.square_corner_velocity %}
{% set kinematics = printer.configfile.settings.printer.kinematics %}
{% if not 'xyz' in printer.toolhead.homed_axes %}
{ action_raise_error("Must Home printer first!") }
{% endif %}
{% if params.SPEED_INCREMENT|default(2)|float * 100 != (params.SPEED_INCREMENT|default(2)|float * 100)|int %}
{ action_raise_error("Only 2 decimal digits are allowed for SPEED_INCREMENT") }
{% endif %}
{% if (size / (max_speed / 60)) < 0.25 %}
{ action_raise_error("SIZE is too small for this MAX_SPEED. Increase SIZE or decrease MAX_SPEED!") }
{% endif %}
{action_respond_info("")}
{action_respond_info("Starting machine vibrations profile measurement")}
{action_respond_info("This operation can not be interrupted by normal means. Hit the \"emergency stop\" button to stop it if needed")}
{action_respond_info("")}
SAVE_GCODE_STATE NAME=CREATE_VIBRATIONS_PROFILE
G90
# Set the wanted acceleration values (not too high to avoid oscillation, not too low to be able to reach constant speed on each segments)
SET_VELOCITY_LIMIT ACCEL={accel} MINIMUM_CRUISE_RATIO=0 SQUARE_CORNER_VELOCITY={[(accel / 1000), 5.0]|max}
# Going to the start position
G1 Z{z_height} F{feedrate_travel / 10}
G1 X{mid_x } Y{mid_y} F{feedrate_travel}
{% if kinematics == "cartesian" %}
# Cartesian motors are on X and Y axis directly
RESPOND MSG="Cartesian kinematics mode"
{% set main_angles = [0, 90] %}
{% elif kinematics == "corexy" %}
# CoreXY motors are on A and B axis (45 and 135 degrees)
RESPOND MSG="CoreXY kinematics mode"
{% set main_angles = [45, 135] %}
{% else %}
{ action_raise_error("Only Cartesian and CoreXY kinematics are supported at the moment for the vibrations measurement tool!") }
{% endif %}
{% set pi = (3.141592653589793) | float %}
{% set tau = (pi * 2) | float %}
{% for curr_angle in main_angles %}
{% for curr_speed_sample in range(0, nb_speed_samples) %}
{% set curr_speed = min_speed + curr_speed_sample * speed_increment %}
{% set rad_angle_full = (curr_angle|float * pi / 180) %}
# -----------------------------------------------------------------------------------------------------------
# Here are some maths to approximate the sin and cos values of rad_angle in Jinja
# Thanks a lot to Aubey! for sharing the idea of using hardcoded Taylor series and
# the associated bit of code to do it easily! This is pure madness!
{% set rad_angle = ((rad_angle_full % tau) - (tau / 2)) | float %}
{% if rad_angle < (-(tau / 4)) %}
{% set rad_angle = (rad_angle + (tau / 2)) | float %}
{% set final_mult = (-1) %}
{% elif rad_angle > (tau / 4) %}
{% set rad_angle = (rad_angle - (tau / 2)) | float %}
{% set final_mult = (-1) %}
{% else %}
{% set final_mult = (1) %}
{% endif %}
{% set sin0 = (rad_angle) %}
{% set sin1 = ((rad_angle ** 3) / 6) | float %}
{% set sin2 = ((rad_angle ** 5) / 120) | float %}
{% set sin3 = ((rad_angle ** 7) / 5040) | float %}
{% set sin4 = ((rad_angle ** 9) / 362880) | float %}
{% set sin5 = ((rad_angle ** 11) / 39916800) | float %}
{% set sin6 = ((rad_angle ** 13) / 6227020800) | float %}
{% set sin7 = ((rad_angle ** 15) / 1307674368000) | float %}
{% set sin = (-(sin0 - sin1 + sin2 - sin3 + sin4 - sin5 + sin6 - sin7) * final_mult) | float %}
{% set cos0 = (1) | float %}
{% set cos1 = ((rad_angle ** 2) / 2) | float %}
{% set cos2 = ((rad_angle ** 4) / 24) | float %}
{% set cos3 = ((rad_angle ** 6) / 720) | float %}
{% set cos4 = ((rad_angle ** 8) / 40320) | float %}
{% set cos5 = ((rad_angle ** 10) / 3628800) | float %}
{% set cos6 = ((rad_angle ** 12) / 479001600) | float %}
{% set cos7 = ((rad_angle ** 14) / 87178291200) | float %}
{% set cos = (-(cos0 - cos1 + cos2 - cos3 + cos4 - cos5 + cos6 - cos7) * final_mult) | float %}
# -----------------------------------------------------------------------------------------------------------
# Reduce the segments length for the lower speed range (0-100mm/s). The minimum length is 1/3 of the SIZE and is gradually increased
# to the nominal SIZE at 100mm/s. No further size changes are made above this speed. The goal is to ensure that the print head moves
# enough to collect enough data for vibration analysis, without doing unnecessary distance to save time. At higher speeds, the full
# segments lengths are used because the head moves faster and travels more distance in the same amount of time and we want enough data
{% if curr_speed < (100 * 60) %}
{% set segment_length_multiplier = 1/5 + 4/5 * (curr_speed / 60) / 100 %}
{% else %}
{% set segment_length_multiplier = 1 %}
{% endif %}
# Calculate angle coordinates using trigonometry and length multiplier and move to start point
{% set dx = (size / 2) * cos * segment_length_multiplier %}
{% set dy = (size / 2) * sin * segment_length_multiplier %}
G1 X{mid_x - dx} Y{mid_y - dy} F{feedrate_travel}
# Adjust the number of back and forth movements based on speed to also save time on lower speed range
# 3 movements are done by default, reduced to 2 between 150-250mm/s and to 1 under 150mm/s.
{% set movements = 3 %}
{% if curr_speed < (150 * 60) %}
{% set movements = 1 %}
{% elif curr_speed < (250 * 60) %}
{% set movements = 2 %}
{% endif %}
ACCELEROMETER_MEASURE CHIP={accel_chip}
# Back and forth movements to record the vibrations at constant speed in both direction
{% for n in range(movements) %}
G1 X{mid_x + dx} Y{mid_y + dy} F{curr_speed}
G1 X{mid_x - dx} Y{mid_y - dy} F{curr_speed}
{% endfor %}
ACCELEROMETER_MEASURE CHIP={accel_chip} NAME=an{("%.2f" % curr_angle|float)|replace('.','_')}sp{("%.2f" % (curr_speed / 60)|float)|replace('.','_')}
G4 P300
M400
{% endfor %}
{% endfor %}
# Restore the previous acceleration values
SET_VELOCITY_LIMIT ACCEL={old_accel} MINIMUM_CRUISE_RATIO={old_cruise_ratio} SQUARE_CORNER_VELOCITY={old_sqv}
# Extract the TMC names and configuration
{% set ns_x = namespace(path='') %}
{% set ns_y = namespace(path='') %}
{% for item in printer %}
{% set parts = item.split() %}
{% if parts|length == 2 and parts[0].startswith('tmc') and parts[0][3:].isdigit() %}
{% if parts[1] == 'stepper_x' %}
{% set ns_x.path = parts[0] %}
{% elif parts[1] == 'stepper_y' %}
{% set ns_y.path = parts[0] %}
{% endif %}
{% endif %}
{% endfor %}
{% if ns_x.path and ns_y.path %}
{% set metadata =
"stepper_x_tmc:" ~ ns_x.path ~ "|"
"stepper_x_run_current:" ~ (printer[ns_x.path + ' stepper_x'].run_current | round(2) | string) ~ "|"
"stepper_x_hold_current:" ~ (printer[ns_x.path + ' stepper_x'].hold_current | round(2) | string) ~ "|"
"stepper_y_tmc:" ~ ns_y.path ~ "|"
"stepper_y_run_current:" ~ (printer[ns_y.path + ' stepper_y'].run_current | round(2) | string) ~ "|"
"stepper_y_hold_current:" ~ (printer[ns_y.path + ' stepper_y'].hold_current | round(2) | string) ~ "|"
%}
{% set autotune_x = printer.configfile.config['autotune_tmc stepper_x'] if 'autotune_tmc stepper_x' in printer.configfile.config else none %}
{% set autotune_y = printer.configfile.config['autotune_tmc stepper_y'] if 'autotune_tmc stepper_y' in printer.configfile.config else none %}
{% if autotune_x and autotune_y %}
{% set stepper_x_voltage = autotune_x.voltage if autotune_x.voltage else '24.0' %}
{% set stepper_y_voltage = autotune_y.voltage if autotune_y.voltage else '24.0' %}
{% set metadata = metadata ~
"autotune_enabled:True|"
"stepper_x_motor:" ~ autotune_x.motor ~ "|"
"stepper_x_voltage:" ~ stepper_x_voltage ~ "|"
"stepper_y_motor:" ~ autotune_y.motor ~ "|"
"stepper_y_voltage:" ~ stepper_y_voltage ~ "|"
%}
{% else %}
{% set metadata = metadata ~ "autotune_enabled:False|" %}
{% endif %}
DUMP_TMC STEPPER=stepper_x
DUMP_TMC STEPPER=stepper_y
{% else %}
{ action_respond_info("No TMC drivers found for X and Y steppers") }
{% endif %}
RESPOND MSG="Machine vibrations profile generation..."
RESPOND MSG="This may take some time (3-5min)"
SHAKETUNE_POSTPROCESS PARAMS="--type vibrations --accel {accel|int} --kinematics {kinematics} {% if metadata %}--metadata {metadata}{% endif %} --chip_name {accel_chip} {% if keep_csv %}--keep_csv{% endif %} --keep_results {keep_results}"
RESTORE_GCODE_STATE NAME=CREATE_VIBRATIONS_PROFILE