Code cleanup before release (#114)

2024-06-10 23:42:10 +02:00
parent 9739f6220e
commit 6db1d394ae
24 changed files with 575 additions and 471 deletions
--- a/shaketune/commands/axes_map_calibration.py
+++ b/shaketune/commands/axes_map_calibration.py
@@ -0,0 +1,93 @@
+#!/usr/bin/env python3
+
+
+from ..helpers.console_output import ConsoleOutput
+from ..shaketune_process import ShakeTuneProcess
+from .accelerometer import Accelerometer
+
+SEGMENT_LENGTH = 30  # mm
+
+
+def axes_map_calibration(gcmd, config, st_process: ShakeTuneProcess) -> 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)
+
+    printer = config.get_printer()
+    gcode = printer.lookup_object('gcode')
+    toolhead = printer.lookup_object('toolhead')
+    systime = printer.get_reactor().monotonic()
+
+    accel_chip = Accelerometer.find_axis_accelerometer(printer, 'xy')
+    k_accelerometer = printer.lookup_object(accel_chip, None)
+    if k_accelerometer is None:
+        raise gcmd.error('Multi-accelerometer configurations are not supported for this macro!')
+    pconfig = printer.lookup_object('configfile')
+    current_axes_map = pconfig.status_raw_config[accel_chip].get('axes_map', None)
+    if current_axes_map is not None and current_axes_map.strip().replace(' ', '') != 'x,y,z':
+        raise gcmd.error(
+            f'The parameter axes_map is already set in your {accel_chip} configuration! Please remove it (or set it to "x,y,z")!'
+        )
+    accelerometer = Accelerometer(k_accelerometer)
+
+    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 - SEGMENT_LENGTH / 2, mid_y - SEGMENT_LENGTH / 2, z_height, E], feedrate_travel)
+    toolhead.dwell(0.5)
+
+    # Start the measurements and do the movements (+X, +Y and then +Z)
+    accelerometer.start_measurement()
+    toolhead.dwell(0.5)
+    toolhead.move([mid_x + SEGMENT_LENGTH / 2, mid_y - SEGMENT_LENGTH / 2, z_height, E], speed)
+    toolhead.dwell(0.5)
+    accelerometer.stop_measurement('axesmap_X', append_time=True)
+    toolhead.dwell(0.5)
+    accelerometer.start_measurement()
+    toolhead.dwell(0.5)
+    toolhead.move([mid_x + SEGMENT_LENGTH / 2, mid_y + SEGMENT_LENGTH / 2, z_height, E], speed)
+    toolhead.dwell(0.5)
+    accelerometer.stop_measurement('axesmap_Y', append_time=True)
+    toolhead.dwell(0.5)
+    accelerometer.start_measurement()
+    toolhead.dwell(0.5)
+    toolhead.move([mid_x + SEGMENT_LENGTH / 2, mid_y + SEGMENT_LENGTH / 2, z_height + SEGMENT_LENGTH, E], speed)
+    toolhead.dwell(0.5)
+    accelerometer.stop_measurement('axesmap_Z', 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} SQUARE_CORNER_VELOCITY={old_sqv}'
+    )
+    toolhead.wait_moves()
+
+    # Run post-processing
+    ConsoleOutput.print('Analysis of the movements...')
+    ConsoleOutput.print('This may take some time (1-3min)')
+    creator = st_process.get_graph_creator()
+    creator.configure(accel, SEGMENT_LENGTH)
+    st_process.run()
+    st_process.wait_for_completion()