Merge branch 'develop' into cross-belts

shaketune/measurement/belts_comparison.py

@@ -0,0 +1,95 @@
+#!/usr/bin/env python3
+
+
+from ..helpers.common_func import AXIS_CONFIG
+from ..helpers.console_output import ConsoleOutput
+from ..shaketune_thread import ShakeTuneThread
+from .accelerometer import Accelerometer
+from .motorsconfigparser import MotorsConfigParser
+from .resonance_test import vibrate_axis
+
+
+def compare_belts_responses(gcmd, config, st_thread: ShakeTuneThread) -> None:
+    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=1.0, 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)
+
+    printer = config.get_printer()
+    gcode = printer.lookup_object('gcode')
+    toolhead = printer.lookup_object('toolhead')
+    res_tester = printer.lookup_object('resonance_tester')
+    systime = printer.get_reactor().monotonic()
+
+    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))
+
+    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
+    motors_config_parser = MotorsConfigParser(config, motors=None)
+    creator = st_thread.get_graph_creator()
+    creator.configure(motors_config_parser.kinematics, accel_per_hz)
+
+    # 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 ('a', 'b')]
+    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...')
+    ConsoleOutput.print('This may take some time (3-5min)')
+    st_thread.run()