Klipper plugin refactoring with embedded macros

2024-05-09 16:08:47 +02:00
parent d9060fed3b
commit 30a1910513
21 changed files with 762 additions and 644 deletions
--- a/shaketune/macros/axes_map.py
+++ b/shaketune/macros/axes_map.py
@@ -0,0 +1,83 @@
+#!/usr/bin/env python3
+
+
+from ..helpers.console_output import ConsoleOutput
+from ..shaketune_thread import ShakeTuneThread
+
+
+def find_axis_accelerometer(printer, axis: str = 'xy'):
+    accel_chip_names = printer.lookup_object('resonance_tester').accel_chip_names
+    for chip_axis, chip_name in accel_chip_names:
+        if axis in ['x', 'y'] and chip_axis == 'xy':
+            return chip_name
+        elif chip_axis == axis:
+            return chip_name
+    return None
+
+
+def axes_map_calibration(gcmd, gcode, printer, st_thread: ShakeTuneThread) -> None:
+    z_height = gcmd.get_float('Z_HEIGHT', default=20.0)
+    speed = gcmd.get_float('SPEED', default=80.0, minval=20.0)
+    accel = gcmd.get_int('ACCEL', default=1500, minval=100)
+    feedrate_travel = gcmd.get_float('TRAVEL_SPEED', default=120.0, minval=20.0)
+    accel_chip = gcmd.get('ACCEL_CHIP', default=None)
+
+    if accel_chip is None:
+        accel_chip = find_axis_accelerometer(printer, 'xy')
+        if accel_chip is None:
+            gcmd.error(
+                'No accelerometer specified for measurement! Multi-accelerometer configurations are not supported for this macro.'
+            )
+
+    systime = printer.get_reactor().monotonic()
+    toolhead = printer.lookup_object('toolhead')
+    toolhead_info = toolhead.get_status(systime)
+    old_accel = toolhead_info['max_accel']
+    old_mcr = toolhead_info['minimum_cruise_ratio']
+    old_sqv = toolhead_info['square_corner_velocity']
+
+    # set the wanted acceleration values
+    gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={accel} MINIMUM_CRUISE_RATIO=0 SQUARE_CORNER_VELOCITY=5.0')
+
+    # Deactivate input shaper if it is active to get raw movements
+    input_shaper = printer.lookup_object('input_shaper', None)
+    if input_shaper is not None:
+        input_shaper.disable_shaping()
+    else:
+        input_shaper = None
+
+    kin_info = toolhead.kin.get_status(systime)
+    mid_x = (kin_info['axis_minimum'].x + kin_info['axis_maximum'].x) / 2
+    mid_y = (kin_info['axis_minimum'].y + kin_info['axis_maximum'].y) / 2
+    _, _, _, E = toolhead.get_position()
+
+    # Going to the start position
+    toolhead.move([mid_x - 15, mid_y - 15, z_height, E], feedrate_travel)
+    toolhead.dwell(0.5)
+
+    # Start the measurements and do the movements (+X, +Y and then +Z)
+    gcode.run_script_from_command(f'ACCELEROMETER_MEASURE CHIP={accel_chip}')
+    toolhead.dwell(1)
+    toolhead.move([mid_x + 15, mid_y - 15, z_height, E], speed)
+    toolhead.dwell(1)
+    toolhead.move([mid_x + 15, mid_y + 15, z_height, E], speed)
+    toolhead.dwell(1)
+    toolhead.move([mid_x + 15, mid_y + 15, z_height + 15, E], speed)
+    toolhead.dwell(1)
+    gcode.run_script_from_command(f'ACCELEROMETER_MEASURE CHIP={accel_chip} NAME=axemap')
+
+    # Re-enable the input shaper if it was active
+    if input_shaper is not None:
+        input_shaper.enable_shaping()
+
+    # Restore the previous acceleration values
+    gcode.run_script_from_command(
+        f'SET_VELOCITY_LIMIT ACCEL={old_accel} MINIMUM_CRUISE_RATIO={old_mcr} SQUARE_CORNER_VELOCITY={old_sqv}'
+    )
+    toolhead.wait_moves()
+
+    # Run post-processing
+    ConsoleOutput.print('Analysis of the movements...')
+    creator = st_thread.get_graph_creator()
+    creator.configure(accel, accel_chip)
+    st_thread.run()