reijii/klippain-shaketune-telegramm
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

using my own resonance tester algorithm

Browse Source
This commit is contained in:
Félix Boisselier
2024-05-12 20:58:53 +02:00
parent 187ba13c98
commit 375190610c
12 changed files with 317 additions and 91 deletions
Download Patch File Download Diff File Expand all files Collapse all files

13
shaketune/graph_creators/graph_creator.py
View File

@@ -57,7 +57,6 @@ class GraphCreator(abc.ABC):
new_file = self._folder / f'{self._type}_{self._graph_date}_{custom_name}.csv'
# shutil.move() is needed to move the file across filesystems (mainly for BTT CB1 Pi default OS image)
shutil.move(filename, new_file)
fm.wait_file_ready(new_file)
lognames.append(new_file)
return lognames
@@ -98,9 +97,9 @@ class BeltsGraphCreator(GraphCreator):
def create_graph(self) -> None:
lognames = self._move_and_prepare_files(
glob_pattern='raw_data_axis*.csv',
glob_pattern='shaketune-belt_*.csv',
min_files_required=2,
custom_name_func=lambda f: f.stem.split('_')[3].upper(),
custom_name_func=lambda f: f.stem.split('_')[1].upper(),
)
fig = belts_calibration(
lognames=[str(path) for path in lognames],
@@ -245,15 +244,13 @@ class AxesMapFinder(GraphCreator):
def find_axesmap(self) -> None:
tmp_folder = Path('/tmp')
globbed_files = list(tmp_folder.glob(f'{self._chip_name}-*.csv'))
globbed_files = list(tmp_folder.glob('shaketune-axemap_*.csv'))
if not globbed_files:
raise FileNotFoundError('no CSV files found in the /tmp folder to find the axes map!')
# Find the CSV files with the latest timestamp and wait for it to be released by Klipper
# Find the CSV files with the latest timestamp and process it
logname = sorted(globbed_files, key=lambda f: f.stat().st_mtime, reverse=True)[0]
fm.wait_file_ready(logname)
results = axesmap_calibration(
lognames=[str(logname)],
accel=self._accel,
@@ -271,6 +268,6 @@ class AxesMapFinder(GraphCreator):
def clean_old_files(self, keep_results: int) -> None:
tmp_folder = Path('/tmp')
globbed_files = list(tmp_folder.glob(f'{self._chip_name}-*.csv'))
globbed_files = list(tmp_folder.glob('shaketune-axemap_*.csv'))
for csv_file in globbed_files:
csv_file.unlink()

7
shaketune/macros/__init__.py
View File

@@ -5,6 +5,13 @@ from .axes_map import axes_map_calibration as axes_map_calibration
from .belts_comparison import compare_belts_responses as compare_belts_responses
from .static_freq import excitate_axis_at_freq as excitate_axis_at_freq
AXIS_CONFIG = [
{'axis': 'x', 'direction': (1, 0, 0), 'label': 'axis_X'},
{'axis': 'y', 'direction': (0, 1, 0), 'label': 'axis_Y'},
{'axis': 'a', 'direction': (1, -1, 0), 'label': 'belt_A'},
{'axis': 'b', 'direction': (1, 1, 0), 'label': 'belt_B'},
]
# graph_creators = {
# 'axesmap': (AxesMapFinder, lambda gc: gc.configure(options.accel_used, options.chip_name)),
# 'belts': (BeltsGraphCreator, None),

56
shaketune/macros/accelerometer.py
View File

@@ -1,37 +1,57 @@
#!/usr/bin/env python3
# This file provides a custom and internal Shake&Tune Accelerometer helper that is
# an interface to Klipper's own accelerometer classes. It is used to start and
# stop accelerometer measurements and write the data to a file in a blocking manner.
import time
from ..helpers.console_output import ConsoleOutput
# from ..helpers.console_output import ConsoleOutput
class Accelerometer:
def __init__(self, klipper_accelerometer):
self._k_accelerometer = klipper_accelerometer
self._bg_client = None
@staticmethod
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 start_measurement(self):
if self._k_accelerometer.bg_client is None:
self._k_accelerometer.bg_client = self._k_accelerometer.chip.start_internal_client()
ConsoleOutput.print('accelerometer measurements started')
if self._bg_client is None:
self._bg_client = self._k_accelerometer.start_internal_client()
# ConsoleOutput.print('Accelerometer measurements started')
else:
raise ValueError('measurements already started!')
def stop_measurement(self, name: str = None):
if self._k_accelerometer.bg_client is not None:
name = name or time.strftime('%Y%m%d_%H%M%S')
if not name.replace('-', '').replace('_', '').isalnum():
raise ValueError('invalid file name!')
bg_client = self._k_accelerometer.bg_client
self._k_accelerometer.bg_client = None
bg_client.finish_measurements()
filename = f'/tmp/shaketune-{name}.csv'
self._write_to_file(bg_client, filename)
ConsoleOutput.print(f'Measurements stopped. Data written to {filename}')
else:
def stop_measurement(self, name: str = None, append_time: bool = True):
if self._bg_client is None:
raise ValueError('measurements need to be started first!')
timestamp = time.strftime('%Y%m%d_%H%M%S')
if name is None:
name = timestamp
elif append_time:
name += f'_{timestamp}'
if not name.replace('-', '').replace('_', '').isalnum():
raise ValueError('invalid file name!')
bg_client = self._bg_client
self._bg_client = None
bg_client.finish_measurements()
filename = f'/tmp/shaketune-{name}.csv'
self._write_to_file(bg_client, filename)
# ConsoleOutput.print(f'Accelerometer measurements stopped. Data written to {filename}')
def _write_to_file(self, bg_client, filename):
with open(filename, 'w') as f:
f.write('#time,accel_x,accel_y,accel_z\n')

93
shaketune/macros/axes_input_shaper.py
View File

@@ -3,33 +3,102 @@
from ..helpers.console_output import ConsoleOutput
from ..shaketune_thread import ShakeTuneThread
from . import AXIS_CONFIG
from .accelerometer import Accelerometer
from .resonance_test import vibrate_axis
def axes_shaper_calibration(gcmd, gcode, printer, st_thread: ShakeTuneThread) -> None:
min_freq = gcmd.get_float('FREQ_START', default=5, minval=1)
max_freq = gcmd.get_float('FREQ_END', default=133.33, minval=1)
hz_per_sec = gcmd.get_float('HZ_PER_SEC', default=1, minval=1)
axis = gcmd.get('AXIS', default='all')
if axis not in ['x', 'y', 'all']:
accel_per_hz = gcmd.get_float('ACCEL_PER_HZ', default=None)
axis_input = gcmd.get('AXIS', default='all').lower()
if axis_input not in ['x', 'y', 'all']:
gcmd.error('AXIS selection invalid. Should be either x, y, or all!')
scv = gcmd.get_float('SCV', default=None, minval=0)
max_sm = gcmd.get_float('MAX_SMOOTHING', default=None, minval=0)
feedrate_travel = gcmd.get_float('TRAVEL_SPEED', default=120.0, minval=20.0)
z_height = gcmd.get_float('Z_HEIGHT', default=None, minval=1)
systime = printer.get_reactor().monotonic()
toolhead = printer.lookup_object('toolhead')
res_tester = printer.lookup_object('resonance_tester')
if scv is None:
systime = printer.get_reactor().monotonic()
toolhead = printer.lookup_object('toolhead')
toolhead_info = toolhead.get_status(systime)
scv = toolhead_info['square_corner_velocity']
if accel_per_hz is None:
accel_per_hz = res_tester.test.accel_per_hz
max_accel = max_freq * accel_per_hz
# Move to the starting point
test_points = res_tester.test.get_start_test_points()
if len(test_points) > 1:
gcmd.error('Only one test point in the [resonance_tester] section is supported by Shake&Tune.')
if test_points[0] == (-1, -1, -1):
if z_height is None:
gcmd.error(
'Z_HEIGHT parameter is required if the test_point in [resonance_tester] section is set to -1,-1,-1'
)
# Use center of bed in case the test point in [resonance_tester] is set to -1,-1,-1
# This is usefull to get something automatic and is also used in the Klippain modular config
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
point = (mid_x, mid_y, z_height)
else:
x, y, z = test_points[0]
if z_height is not None:
z = z_height
point = (x, y, z)
toolhead.manual_move(point, feedrate_travel)
# Configure the graph creator
creator = st_thread.get_graph_creator()
creator.configure(scv, max_sm)
axis_flags = {'x': axis in ('x', 'all'), 'y': axis in ('y', 'all')}
for axis in ['x', 'y']:
if axis_flags[axis]:
gcode.run_script_from_command(
f'TEST_RESONANCES AXIS={axis.upper()} OUTPUT=raw_data NAME={axis} FREQ_START={min_freq} FREQ_END={max_freq} HZ_PER_SEC={hz_per_sec}'
# set the needed acceleration values for the test
toolhead_info = toolhead.get_status(systime)
old_accel = toolhead_info['max_accel']
old_mcr = toolhead_info['minimum_cruise_ratio']
gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={max_accel} MINIMUM_CRUISE_RATIO=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
# Filter axis configurations based on user input, assuming 'axis_input' can be 'x', 'y', 'all' (that means 'x' and 'y')
filtered_config = [
a for a in AXIS_CONFIG if a['axis'] == axis_input or (axis_input == 'all' and a['axis'] in ('x', 'y'))
]
for config in filtered_config:
# First we need to find the accelerometer chip suited for the axis
accel_chip = Accelerometer.find_axis_accelerometer(printer, config['axis'])
if accel_chip is None:
gcmd.error(
'No suitable accelerometer found for measurement! Multi-accelerometer configurations are not supported for this macro.'
)
ConsoleOutput.print(f'{axis.upper()} axis frequency profile generation...')
ConsoleOutput.print('This may take some time (1-3min)')
st_thread.run()
accelerometer = Accelerometer(printer.lookup_object(accel_chip))
# Then do the actual measurements
accelerometer.start_measurement()
vibrate_axis(toolhead, gcode, config['direction'], min_freq, max_freq, hz_per_sec, accel_per_hz)
accelerometer.stop_measurement(config['label'], append_time=True)
# And finally generate the graph for each measured axis
ConsoleOutput.print(f'{config['axis'].upper()} axis frequency profile generation...')
ConsoleOutput.print('This may take some time (1-3min)')
st_thread.run()
# 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}')

18
shaketune/macros/axes_map.py
View File

@@ -6,16 +6,6 @@ from ..shaketune_thread import ShakeTuneThread
from .accelerometer import Accelerometer
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)
@@ -24,11 +14,12 @@ def axes_map_calibration(gcmd, gcode, printer, st_thread: ShakeTuneThread) -> No
accel_chip = gcmd.get('ACCEL_CHIP', default=None)
if accel_chip is None:
accel_chip = find_axis_accelerometer(printer, 'xy')
accel_chip = Accelerometer.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.'
)
accelerometer = Accelerometer(printer.lookup_object(accel_chip))
systime = printer.get_reactor().monotonic()
toolhead = printer.lookup_object('toolhead')
@@ -57,10 +48,7 @@ def axes_map_calibration(gcmd, gcode, printer, st_thread: ShakeTuneThread) -> No
toolhead.dwell(0.5)
# Start the measurements and do the movements (+X, +Y and then +Z)
accelerometer = Accelerometer(printer.lookup_object(accel_chip))
accelerometer.start_measurement()
# 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)
@@ -68,9 +56,7 @@ def axes_map_calibration(gcmd, gcode, printer, st_thread: ShakeTuneThread) -> No
toolhead.dwell(1)
toolhead.move([mid_x + 15, mid_y + 15, z_height + 15, E], speed)
toolhead.dwell(1)
accelerometer.stop_measurement('axemap')
# 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:

79
shaketune/macros/belts_comparison.py
View File

@@ -3,24 +3,83 @@
from ..helpers.console_output import ConsoleOutput
from ..shaketune_thread import ShakeTuneThread
from . import AXIS_CONFIG
from .accelerometer import Accelerometer
from .resonance_test import vibrate_axis
def compare_belts_responses(gcmd, gcode, printer, st_thread: ShakeTuneThread) -> None:
min_freq = gcmd.get_float('FREQ_START', default=5, minval=1)
min_freq = gcmd.get_float('FREQ_START', default=5.0, minval=1)
max_freq = gcmd.get_float('FREQ_END', default=133.33, minval=1)
hz_per_sec = gcmd.get_float('HZ_PER_SEC', default=1, minval=1)
hz_per_sec = gcmd.get_float('HZ_PER_SEC', default=1.0, minval=1)
accel_per_hz = gcmd.get_float('ACCEL_PER_HZ', default=None)
feedrate_travel = gcmd.get_float('TRAVEL_SPEED', default=120.0, minval=20.0)
z_height = gcmd.get_float('Z_HEIGHT', default=None, minval=1)
systime = printer.get_reactor().monotonic()
toolhead = printer.lookup_object('toolhead')
res_tester = printer.lookup_object('resonance_tester')
gcode.run_script_from_command(
f'TEST_RESONANCES AXIS=1,1 OUTPUT=raw_data NAME=b FREQ_START={min_freq} FREQ_END={max_freq} HZ_PER_SEC={hz_per_sec}'
)
toolhead.wait_moves()
accel_chip = Accelerometer.find_axis_accelerometer(printer, 'xy')
if accel_chip is None:
gcmd.error(
'No suitable accelerometer found for measurement! Multi-accelerometer configurations are not supported for this macro.'
)
accelerometer = Accelerometer(printer.lookup_object(accel_chip))
gcode.run_script_from_command(
f'TEST_RESONANCES AXIS=1,-1 OUTPUT=raw_data NAME=a FREQ_START={min_freq} FREQ_END={max_freq} HZ_PER_SEC={hz_per_sec}'
)
toolhead.wait_moves()
if accel_per_hz is None:
accel_per_hz = res_tester.test.accel_per_hz
max_accel = max_freq * accel_per_hz
# Move to the starting point
test_points = res_tester.test.get_start_test_points()
if len(test_points) > 1:
gcmd.error('Only one test point in the [resonance_tester] section is supported by Shake&Tune.')
if test_points[0] == (-1, -1, -1):
if z_height is None:
gcmd.error(
'Z_HEIGHT parameter is required if the test_point in [resonance_tester] section is set to -1,-1,-1'
)
# Use center of bed in case the test point in [resonance_tester] is set to -1,-1,-1
# This is usefull to get something automatic and is also used in the Klippain modular config
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
point = (mid_x, mid_y, z_height)
else:
x, y, z = test_points[0]
if z_height is not None:
z = z_height
point = (x, y, z)
toolhead.manual_move(point, feedrate_travel)
# set the needed acceleration values for the test
toolhead_info = toolhead.get_status(systime)
old_accel = toolhead_info['max_accel']
old_mcr = toolhead_info['minimum_cruise_ratio']
gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={max_accel} MINIMUM_CRUISE_RATIO=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
# Filter axis configurations to get the A and B axis only
filtered_config = [a for a in AXIS_CONFIG if a['axis'] in ('x', 'y')]
for config in filtered_config:
accelerometer.start_measurement()
vibrate_axis(toolhead, gcode, config['direction'], min_freq, max_freq, hz_per_sec, accel_per_hz)
accelerometer.stop_measurement(config['label'], append_time=True)
# 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}')
# Run post-processing
ConsoleOutput.print('Belts comparative frequency profile generation...')

50
shaketune/macros/resonance_test.py Normal file
View File

@@ -0,0 +1,50 @@
#!/usr/bin/env python3
# The logic in this file was "extracted" from Klipper's orignal resonance_tester.py file
# Courtesy of Dmitry Butyugin <dmbutyugin@google.com> for the original implementation
# This derive a bit from Klipper's implementation as there are two main changes:
# 1. Original code doesn't use euclidean distance for the moves calculation with projection. The new approach implemented here
# ensures that the vector's total length remains constant (= L), regardless of the direction components. It's especially
# important when the direction vector involves combinations of movements along multiple axes like for the diagonal belt tests.
# 2. Original code doesn't allow Z axis movement that was added here for later use
import math
from ..helpers.console_output import ConsoleOutput
# This function is used to vibrate the toolhead in a specific axis direction
# to test the resonance frequency of the printer and its components
def vibrate_axis(toolhead, gcode, axis_direction, min_freq, max_freq, hz_per_sec, accel_per_hz):
freq = min_freq
X, Y, Z, E = toolhead.get_position() # Get current position
sign = 1.0
while freq <= max_freq + 0.000001:
t_seg = 0.25 / freq # Time segment for one vibration cycle
accel = accel_per_hz * freq # Acceleration for each half-cycle
max_v = accel * t_seg # Max velocity for each half-cycle
toolhead.cmd_M204(gcode.create_gcode_command('M204', 'M204', {'S': accel}))
L = 0.5 * accel * t_seg**2 # Distance for each half-cycle
# Calculate move points based on axis direction (X, Y and Z)
magnitude = math.sqrt(sum([component**2 for component in axis_direction]))
normalized_direction = tuple(component / magnitude for component in axis_direction)
dX, dY, dZ = normalized_direction[0] * L, normalized_direction[1] * L, normalized_direction[2] * L
nX = X + sign * dX
nY = Y + sign * dY
nZ = Z + sign * dZ
# Execute movement
toolhead.move([nX, nY, nZ, E], max_v)
toolhead.move([X, Y, Z, E], max_v)
sign *= -1
# Increase frequency for next cycle
old_freq = freq
freq += 2 * t_seg * hz_per_sec
if int(freq) > int(old_freq):
ConsoleOutput.print(f'Testing frequency: {freq:.0f} Hz')
toolhead.wait_moves()

53
shaketune/macros/static_freq.py
View File

@@ -1,22 +1,55 @@
#!/usr/bin/env python3
from ..helpers.console_output import ConsoleOutput
from . import AXIS_CONFIG
from .resonance_test import vibrate_axis
def excitate_axis_at_freq(gcmd, gcode) -> None:
def excitate_axis_at_freq(gcmd, printer, gcode) -> None:
freq = gcmd.get_int('FREQUENCY', default=25, minval=1)
duration = gcmd.get_int('DURATION', default=10, minval=1)
axis = gcmd.get('AXIS', default='x')
if axis not in ['x', 'y', 'a', 'b']:
accel_per_hz = gcmd.get_float('ACCEL_PER_HZ', default=None)
axis = gcmd.get('AXIS', default='x').lower()
feedrate_travel = gcmd.get_float('TRAVEL_SPEED', default=120.0, minval=20.0)
z_height = gcmd.get_float('Z_HEIGHT', default=None, minval=1)
axis_config = next((item for item in AXIS_CONFIG if item['axis'] == axis), None)
if axis_config is None:
gcmd.error('AXIS selection invalid. Should be either x, y, a or b!')
ConsoleOutput.print(f'Excitating {axis.upper()} axis at {freq}Hz for {duration} seconds')
if axis == 'a':
axis = '1,-1'
elif axis == 'b':
axis = '1,1'
systime = printer.get_reactor().monotonic()
toolhead = printer.lookup_object('toolhead')
res_tester = printer.lookup_object('resonance_tester')
gcode.run_script_from_command(
f'TEST_RESONANCES OUTPUT=raw_data AXIS={axis} FREQ_START={freq-1} FREQ_END={freq+1} HZ_PER_SEC={1/(duration/3)}'
)
if accel_per_hz is None:
accel_per_hz = res_tester.test.accel_per_hz
# Move to the starting point
test_points = res_tester.test.get_start_test_points()
if len(test_points) > 1:
gcmd.error('Only one test point in the [resonance_tester] section is supported by Shake&Tune.')
if test_points[0] == (-1, -1, -1):
if z_height is None:
gcmd.error(
'Z_HEIGHT parameter is required if the test_point in [resonance_tester] section is set to -1,-1,-1'
)
# Use center of bed in case the test point in [resonance_tester] is set to -1,-1,-1
# This is usefull to get something automatic and is also used in the Klippain modular config
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
point = (mid_x, mid_y, z_height)
else:
x, y, z = test_points[0]
if z_height is not None:
z = z_height
point = (x, y, z)
toolhead.manual_move(point, feedrate_travel)
min_freq = freq - 1
max_freq = freq + 1
hz_per_sec = 1 / (duration / 3)
vibrate_axis(toolhead, gcode, axis_config['direction'], min_freq, max_freq, hz_per_sec, accel_per_hz)