AXES_MAP detection reworked (#110)

2024-06-04 18:31:23 +02:00
parent 0fbdef4a17
commit bb6907e5e6
7 changed files with 423 additions and 143 deletions
--- a/requirements.txt
+++ b/requirements.txt
@@ -1,7 +1,5 @@
 GitPython==3.1.40
-matplotlib==3.8.2 ; python_version >= '3.9'
-matplotlib==3.3.4 ; python_version < '3.9'
-numpy==1.26.2 ; python_version >= '3.9'
-numpy==1.19.5 ; python_version < '3.9'
-scipy==1.11.4 ; python_version >= '3.9'
-scipy==1.7.3 ; python_version < '3.9'
+matplotlib==3.8.2
+numpy==1.26.2
+scipy==1.11.4
+PyWavelets==1.6.0
--- a/shaketune/dummy_macros.cfg
+++ b/shaketune/dummy_macros.cfg
@@ -23,7 +23,6 @@ gcode:
    {% set dummy = params.SPEED|default(80) %}
    {% set dummy = params.ACCEL|default(1500) %}
    {% set dummy = params.TRAVEL_SPEED|default(120) %}
-    {% set dummy = params.ACCEL_CHIP %}
    _AXES_MAP_CALIBRATION {rawparams}


--- a/shaketune/measurement/axes_map.py
+++ b/shaketune/measurement/axes_map.py
@@ -5,6 +5,8 @@ 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)
@@ -21,6 +23,12 @@ def axes_map_calibration(gcmd, config, st_process: ShakeTuneProcess) -> None:
    k_accelerometer = printer.lookup_object(accel_chip, None)
    if k_accelerometer is None:
        gcmd.error('Error: multi-accelerometer configurations are not supported for this macro!')
+    pconfig = printer.lookup_object('configfile')
+    current_axes_map = pconfig.status_raw_config[accel_chip]['axes_map']
+    if current_axes_map.strip().replace(' ', '') != 'x,y,z':
+        gcmd.error(
+            f'Error: 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)
@@ -44,19 +52,27 @@ def axes_map_calibration(gcmd, config, st_process: ShakeTuneProcess) -> None:
    _, _, _, E = toolhead.get_position()

    # Going to the start position
-    toolhead.move([mid_x - 15, mid_y - 15, z_height, E], feedrate_travel)
+    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(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)
-    accelerometer.stop_measurement('axemap')
+    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:
@@ -71,5 +87,5 @@ def axes_map_calibration(gcmd, config, st_process: ShakeTuneProcess) -> None:
    # Run post-processing
    ConsoleOutput.print('Analysis of the movements...')
    creator = st_process.get_graph_creator()
-    creator.configure(accel)
+    creator.configure(accel, SEGMENT_LENGTH)
    st_process.run()
--- a/shaketune/post_processing/analyze_axesmap.py
+++ b/shaketune/post_processing/analyze_axesmap.py
@@ -6,13 +6,31 @@
 # Written by Frix_x#0161 #

 import optparse
+import os
+from datetime import datetime

+import matplotlib
+import matplotlib.colors
+import matplotlib.font_manager
+import matplotlib.pyplot as plt
+import matplotlib.ticker
 import numpy as np
-from scipy.signal import butter, filtfilt
+import pywt
+from scipy import stats

+matplotlib.use('Agg')
+
+from ..helpers.common_func import parse_log
 from ..helpers.console_output import ConsoleOutput

-NUM_POINTS = 500
+KLIPPAIN_COLORS = {
+    'purple': '#70088C',
+    'orange': '#FF8D32',
+    'dark_purple': '#150140',
+    'dark_orange': '#F24130',
+    'red_pink': '#F2055C',
+}
+MACHINE_AXES = ['x', 'y', 'z']


 ######################################################################
@@ -20,58 +38,230 @@ NUM_POINTS = 500
 ######################################################################


-def accel_signal_filter(data, cutoff=2, fs=100, order=5):
-    nyq = 0.5 * fs
-    normal_cutoff = cutoff / nyq
-    b, a = butter(order, normal_cutoff, btype='low', analog=False)
-    filtered_data = filtfilt(b, a, data)
-    filtered_data -= np.mean(filtered_data)
-    return filtered_data
+def wavelet_denoise(data, wavelet='db1', level=1):
+    coeffs = pywt.wavedec(data, wavelet, mode='smooth')
+    threshold = np.median(np.abs(coeffs[-level])) / 0.6745 * np.sqrt(2 * np.log(len(data)))
+    new_coeffs = [pywt.threshold(c, threshold, mode='soft') for c in coeffs]
+    denoised_data = pywt.waverec(new_coeffs, wavelet)
+
+    # Compute noise by subtracting denoised data from original data
+    noise = data - denoised_data[: len(data)]
+    return denoised_data, noise


-def find_first_spike(data):
-    min_index, max_index = np.argmin(data), np.argmax(data)
-    return ('-', min_index) if min_index < max_index else ('', max_index)
+def integrate_trapz(accel, time):
+    return np.array([np.trapz(accel[:i], time[:i]) for i in range(2, len(time) + 1)])


-def get_movement_vector(data, start_idx, end_idx):
-    if start_idx < end_idx:
-        vector = []
-        for i in range(3):
-            vector.append(np.mean(data[i][start_idx:end_idx], axis=0))
-        return vector
-    else:
-        return np.zeros(3)
+def process_acceleration_data(time, accel_x, accel_y, accel_z):
+    # Calculate the constant offset (gravity component)
+    offset_x = np.mean(accel_x)
+    offset_y = np.mean(accel_y)
+    offset_z = np.mean(accel_z)
+
+    # Remove the constant offset from acceleration data
+    accel_x -= offset_x
+    accel_y -= offset_y
+    accel_z -= offset_z
+
+    # Apply wavelet denoising
+    accel_x, noise_x = wavelet_denoise(accel_x)
+    accel_y, noise_y = wavelet_denoise(accel_y)
+    accel_z, noise_z = wavelet_denoise(accel_z)
+
+    # Integrate acceleration to get velocity using trapezoidal rule
+    velocity_x = integrate_trapz(accel_x, time)
+    velocity_y = integrate_trapz(accel_y, time)
+    velocity_z = integrate_trapz(accel_z, time)
+
+    # Correct drift in velocity by resetting to zero at the beginning and end
+    velocity_x -= np.linspace(velocity_x[0], velocity_x[-1], len(velocity_x))
+    velocity_y -= np.linspace(velocity_y[0], velocity_y[-1], len(velocity_y))
+    velocity_z -= np.linspace(velocity_z[0], velocity_z[-1], len(velocity_z))
+
+    # Integrate velocity to get position using trapezoidal rule
+    position_x = integrate_trapz(velocity_x, time[1:])
+    position_y = integrate_trapz(velocity_y, time[1:])
+    position_z = integrate_trapz(velocity_z, time[1:])
+
+    noise_intensity = np.mean([np.std(noise_x), np.std(noise_y), np.std(noise_z)])
+
+    return offset_x, offset_y, offset_z, position_x, position_y, position_z, noise_intensity


-def angle_between(v1, v2):
-    v1_u = v1 / np.linalg.norm(v1)
-    v2_u = v2 / np.linalg.norm(v2)
-    return np.arccos(np.clip(np.dot(v1_u, v2_u), -1.0, 1.0))
+def scale_positions_to_fixed_length(position_x, position_y, position_z, fixed_length):
+    # Calculate the total distance traveled in 3D space
+    total_distance = np.sqrt(np.diff(position_x) ** 2 + np.diff(position_y) ** 2 + np.diff(position_z) ** 2).sum()
+    scale_factor = fixed_length / total_distance
+
+    # Apply the scale factor to the positions
+    position_x *= scale_factor
+    position_y *= scale_factor
+    position_z *= scale_factor
+
+    return position_x, position_y, position_z


-def compute_errors(filtered_data, spikes_sorted, accel_value, num_points):
-    # Get the movement start points in the correct order from the sorted bag of spikes
-    movement_starts = [spike[0][1] for spike in spikes_sorted]
+def find_nearest_perfect_vector(average_direction_vector):
+    # Define the perfect vectors
+    perfect_vectors = np.array([[1, 0, 0], [0, 1, 0], [0, 0, 1], [-1, 0, 0], [0, -1, 0], [0, 0, -1]])

-    # Theoretical unit vectors for X, Y, Z printer axes
-    printer_axes = {'x': np.array([1, 0, 0]), 'y': np.array([0, 1, 0]), 'z': np.array([0, 0, 1])}
+    # Find the nearest perfect vector
+    dot_products = perfect_vectors @ average_direction_vector
+    nearest_vector_idx = np.argmax(dot_products)
+    nearest_vector = perfect_vectors[nearest_vector_idx]

-    alignment_errors = {}
-    sensitivity_errors = {}
-    for i, axis in enumerate(['x', 'y', 'z']):
-        movement_start = movement_starts[i]
-        movement_end = movement_start + num_points
-        movement_vector = get_movement_vector(filtered_data, movement_start, movement_end)
-        alignment_errors[axis] = angle_between(movement_vector, printer_axes[axis])
+    # Calculate the angle error
+    angle_error = np.arccos(dot_products[nearest_vector_idx]) * 180 / np.pi

-        measured_accel_magnitude = np.linalg.norm(movement_vector)
-        if accel_value != 0:
-            sensitivity_errors[axis] = abs(measured_accel_magnitude - accel_value) / accel_value * 100
-        else:
-            sensitivity_errors[axis] = None
+    return nearest_vector, angle_error

-    return alignment_errors, sensitivity_errors
+
+def linear_regression_direction(position_x, position_y, position_z, trim_length=0.25):
+    # Trim the start and end of the position data to keep only the center of the segment
+    # as the start and stop positions are not always perfectly aligned and can be a bit noisy
+    t = len(position_x)
+    trim_start = int(t * trim_length)
+    trim_end = int(t * (1 - trim_length))
+    position_x = position_x[trim_start:trim_end]
+    position_y = position_y[trim_start:trim_end]
+    position_z = position_z[trim_start:trim_end]
+
+    # Compute the direction vector using linear regression over the position data
+    time = np.arange(len(position_x))
+    slope_x, intercept_x, _, _, _ = stats.linregress(time, position_x)
+    slope_y, intercept_y, _, _, _ = stats.linregress(time, position_y)
+    slope_z, intercept_z, _, _, _ = stats.linregress(time, position_z)
+    end_position = np.array(
+        [slope_x * time[-1] + intercept_x, slope_y * time[-1] + intercept_y, slope_z * time[-1] + intercept_z]
+    )
+    direction_vector = end_position - np.array([intercept_x, intercept_y, intercept_z])
+    direction_vector = direction_vector / np.linalg.norm(direction_vector)
+    return direction_vector
+
+
+######################################################################
+# Graphing
+######################################################################
+
+
+def plot_compare_frequency(ax, time, accel_x, accel_y, accel_z, offset, i):
+    # Plot acceleration data
+    ax.plot(
+        time,
+        accel_x,
+        label='X' if i == 0 else '',
+        color=KLIPPAIN_COLORS['purple'],
+        linewidth=0.5,
+        zorder=50 if i == 0 else 10,
+    )
+    ax.plot(
+        time,
+        accel_y,
+        label='Y' if i == 0 else '',
+        color=KLIPPAIN_COLORS['orange'],
+        linewidth=0.5,
+        zorder=50 if i == 1 else 10,
+    )
+    ax.plot(
+        time,
+        accel_z,
+        label='Z' if i == 0 else '',
+        color=KLIPPAIN_COLORS['red_pink'],
+        linewidth=0.5,
+        zorder=50 if i == 2 else 10,
+    )
+
+    # Setting axis parameters, grid and graph title
+    ax.set_xlabel('Time (s)')
+    ax.set_ylabel('Acceleration (mm/s²)')
+
+    ax.xaxis.set_minor_locator(matplotlib.ticker.AutoMinorLocator())
+    ax.yaxis.set_minor_locator(matplotlib.ticker.AutoMinorLocator())
+    ax.ticklabel_format(axis='y', style='scientific', scilimits=(0, 0))
+    ax.grid(which='major', color='grey')
+    ax.grid(which='minor', color='lightgrey')
+    fontP = matplotlib.font_manager.FontProperties()
+    fontP.set_size('small')
+    ax.set_title(
+        'Acceleration (gravity offset removed)',
+        fontsize=14,
+        color=KLIPPAIN_COLORS['dark_orange'],
+        weight='bold',
+    )
+
+    ax.legend(loc='upper left', prop=fontP)
+
+    # Add gravity offset to the graph
+    if i == 0:
+        ax2 = ax.twinx()  # To split the legends in two box
+        ax2.yaxis.set_visible(False)
+        ax2.plot([], [], ' ', label=f'Measured gravity: {offset / 1000:0.3f} m/s²')
+        ax2.legend(loc='upper right', prop=fontP)
+
+
+def plot_3d_path(ax, i, position_x, position_y, position_z, average_direction_vector, angle_error):
+    ax.plot(position_x, position_y, position_z, color=KLIPPAIN_COLORS['orange'], linestyle=':', linewidth=2)
+    ax.scatter(position_x[0], position_y[0], position_z[0], color=KLIPPAIN_COLORS['red_pink'], zorder=10)
+    ax.text(
+        position_x[0] + 1,
+        position_y[0],
+        position_z[0],
+        str(i + 1),
+        color='black',
+        fontsize=16,
+        fontweight='bold',
+        zorder=20,
+    )
+
+    # Plot the average direction vector
+    start_position = np.array([position_x[0], position_y[0], position_z[0]])
+    end_position = start_position + average_direction_vector * np.linalg.norm(
+        [position_x[-1] - position_x[0], position_y[-1] - position_y[0], position_z[-1] - position_z[0]]
+    )
+    axes = ['X', 'Y', 'Z']
+    ax.plot(
+        [start_position[0], end_position[0]],
+        [start_position[1], end_position[1]],
+        [start_position[2], end_position[2]],
+        label=f'{axes[i]} angle: {angle_error:0.2f}°',
+        color=KLIPPAIN_COLORS['purple'],
+        linestyle='-',
+        linewidth=2,
+    )
+
+    # Setting axis parameters, grid and graph title
+    ax.set_xlabel('X Position (mm)')
+    ax.set_ylabel('Y Position (mm)')
+    ax.set_zlabel('Z Position (mm)')
+
+    ax.xaxis.set_minor_locator(matplotlib.ticker.AutoMinorLocator())
+    ax.yaxis.set_minor_locator(matplotlib.ticker.AutoMinorLocator())
+    ax.grid(which='major', color='grey')
+    ax.grid(which='minor', color='lightgrey')
+    fontP = matplotlib.font_manager.FontProperties()
+    fontP.set_size('small')
+    ax.set_title(
+        'Estimated movement in 3D space',
+        fontsize=14,
+        color=KLIPPAIN_COLORS['dark_orange'],
+        weight='bold',
+    )
+
+    ax.legend(loc='upper left', prop=fontP)
+
+
+def format_direction_vector(vectors):
+    formatted_vector = []
+    for vector in vectors:
+        for i in range(len(vector)):
+            if vector[i] > 0:
+                formatted_vector.append(MACHINE_AXES[i])
+                break
+            elif vector[i] < 0:
+                formatted_vector.append(f'-{MACHINE_AXES[i]}')
+                break
+    return ', '.join(formatted_vector)


 ######################################################################
@@ -79,50 +269,122 @@ def compute_errors(filtered_data, spikes_sorted, accel_value, num_points):
 ######################################################################


-def parse_log(logname):
-    with open(logname) as f:
-        for header in f:
-            if not header.startswith('#'):
-                break
-        if not header.startswith('freq,psd_x,psd_y,psd_z,psd_xyz'):
-            # Raw accelerometer data
-            return np.loadtxt(logname, comments='#', delimiter=',')
-    # Power spectral density data or shaper calibration data
-    raise ValueError(
-        'File %s does not contain raw accelerometer data and therefore '
-        'is not supported by this script. Please use the official Klipper '
-        'calibrate_shaper.py script to process it instead.' % (logname,)
+def axesmap_calibration(lognames, fixed_length, accel=None, st_version='unknown'):
+    # Parse data from the log files while ignoring CSV in the wrong format (sorted by axis name)
+    raw_datas = {}
+    for logname in lognames:
+        data = parse_log(logname)
+        if data is not None:
+            _axis = logname.split('_')[-1].split('.')[0].lower()
+            raw_datas[_axis] = data
+
+    if len(raw_datas) != 3:
+        raise ValueError('This tool needs 3 CSVs to work with (like axesmap_X.csv, axesmap_Y.csv and axesmap_Z.csv)')
+
+    fig, ((ax1, ax2)) = plt.subplots(
+        1,
+        2,
+        gridspec_kw={
+            'width_ratios': [5, 3],
+            'bottom': 0.080,
+            'top': 0.840,
+            'left': 0.055,
+            'right': 0.960,
+            'hspace': 0.166,
+            'wspace': 0.060,
+        },
+    )
+    fig.set_size_inches(15, 7)
+    ax2.remove()
+    ax2 = fig.add_subplot(122, projection='3d')
+
+    cumulative_start_position = np.array([0, 0, 0])
+    direction_vectors = []
+    total_noise_intensity = 0.0
+    for i, machine_axis in enumerate(MACHINE_AXES):
+        if machine_axis not in raw_datas:
+            raise ValueError(f'Missing CSV file for axis {machine_axis}')
+
+        # Get the accel data according to the current axes_map
+        time = raw_datas[machine_axis][:, 0]
+        accel_x = raw_datas[machine_axis][:, 1]
+        accel_y = raw_datas[machine_axis][:, 2]
+        accel_z = raw_datas[machine_axis][:, 3]
+
+        offset_x, offset_y, offset_z, position_x, position_y, position_z, noise_intensity = process_acceleration_data(
+            time, accel_x, accel_y, accel_z
+        )
+        position_x, position_y, position_z = scale_positions_to_fixed_length(
+            position_x, position_y, position_z, fixed_length
+        )
+        position_x += cumulative_start_position[0]
+        position_y += cumulative_start_position[1]
+        position_z += cumulative_start_position[2]
+
+        gravity = np.linalg.norm(np.array([offset_x, offset_y, offset_z]))
+        average_direction_vector = linear_regression_direction(position_x, position_y, position_z)
+        direction_vector, angle_error = find_nearest_perfect_vector(average_direction_vector)
+        ConsoleOutput.print(
+            f'Machine axis {machine_axis.upper()} -> nearest accelerometer direction vector: {direction_vector} (angle error: {angle_error:.2f}°)'
+        )
+        direction_vectors.append(direction_vector)
+
+        total_noise_intensity += noise_intensity
+
+        plot_compare_frequency(ax1, time, accel_x, accel_y, accel_z, gravity, i)
+        plot_3d_path(ax2, i, position_x, position_y, position_z, average_direction_vector, angle_error)
+
+        # Update the cumulative start position for the next segment
+        cumulative_start_position = np.array([position_x[-1], position_y[-1], position_z[-1]])
+
+    average_noise_intensity = total_noise_intensity / len(raw_datas)
+    if average_noise_intensity <= 350:
+        average_noise_intensity_text = '-> OK'
+    elif 350 < average_noise_intensity <= 700:
+        average_noise_intensity_text = '-> WARNING: accelerometer noise is a bit high'
+    else:
+        average_noise_intensity_text = '-> ERROR: accelerometer noise is too high!'
+
+    formatted_direction_vector = format_direction_vector(direction_vectors)
+    ConsoleOutput.print(f'--> Detected axes_map: {formatted_direction_vector}')
+    ConsoleOutput.print(
+        f'Average accelerometer noise level: {average_noise_intensity:.2f} mm/s² {average_noise_intensity_text}'
    )

+    # Add title
+    title_line1 = 'AXES MAP CALIBRATION TOOL'
+    fig.text(
+        0.060, 0.947, title_line1, ha='left', va='bottom', fontsize=20, color=KLIPPAIN_COLORS['purple'], weight='bold'
+    )
+    try:
+        filename = lognames[0].split('/')[-1]
+        dt = datetime.strptime(f"{filename.split('_')[1]} {filename.split('_')[2]}", '%Y%m%d %H%M%S')
+        title_line2 = dt.strftime('%x %X')
+        if accel is not None:
+            title_line2 += f' -- at {accel:0.0f} mm/s²'
+    except Exception:
+        ConsoleOutput.print(
+            'Warning: CSV filenames look to be different than expected (%s , %s, %s)'
+            % (lognames[0], lognames[1], lognames[2])
+        )
+        title_line2 = lognames[0].split('/')[-1] + ' ...'
+    fig.text(0.060, 0.939, title_line2, ha='left', va='top', fontsize=16, color=KLIPPAIN_COLORS['dark_purple'])

-def axesmap_calibration(lognames, accel=None):
-    # Parse the raw data and get them ready for analysis
-    raw_datas = [parse_log(filename) for filename in lognames]
-    if len(raw_datas) > 1:
-        raise ValueError('Analysis of multiple CSV files at once is not possible with this script')
+    title_line3 = f'| Detected axes_map: {formatted_direction_vector}'
+    title_line4 = f'| Accelerometer noise level: {average_noise_intensity:.2f} mm/s² {average_noise_intensity_text}'
+    fig.text(0.50, 0.985, title_line3, ha='left', va='top', fontsize=14, color=KLIPPAIN_COLORS['dark_purple'])
+    fig.text(0.50, 0.950, title_line4, ha='left', va='top', fontsize=11, color=KLIPPAIN_COLORS['dark_purple'])

-    filtered_data = [accel_signal_filter(raw_datas[0][:, i + 1]) for i in range(3)]
-    spikes = [find_first_spike(filtered_data[i]) for i in range(3)]
-    spikes_sorted = sorted([(spikes[0], 'x'), (spikes[1], 'y'), (spikes[2], 'z')], key=lambda x: x[0][1])
+    # Adding a small Klippain logo to the top left corner of the figure
+    ax_logo = fig.add_axes([0.001, 0.894, 0.105, 0.105], anchor='NW')
+    ax_logo.imshow(plt.imread(os.path.join(os.path.dirname(os.path.abspath(__file__)), 'klippain.png')))
+    ax_logo.axis('off')

-    # Using the previous variables to get the axes_map and errors
-    axes_map = ','.join([f'{spike[0][0]}{spike[1]}' for spike in spikes_sorted])
-    # alignment_error, sensitivity_error = compute_errors(filtered_data, spikes_sorted, accel, NUM_POINTS)
+    # Adding Shake&Tune version in the top right corner
+    if st_version != 'unknown':
+        fig.text(0.995, 0.980, st_version, ha='right', va='bottom', fontsize=8, color=KLIPPAIN_COLORS['purple'])

-    results = f'Be aware that this macro is experimental and has been known to sometimes produce incorrect results. Use it with caution and always check the results!\n'
-    results += f'Detected axes_map:\n  {axes_map}\n'
-
-    # TODO: work on this function that is currently not giving good results...
-    # results += "Accelerometer angle deviation:\n"
-    # for axis, angle in alignment_error.items():
-    #     angle_degrees = np.degrees(angle) # Convert radians to degrees
-    #     results += f"  {axis.upper()} axis: {angle_degrees:.2f} degrees\n"
-
-    # results += "Accelerometer sensitivity error:\n"
-    # for axis, error in sensitivity_error.items():
-    #     results += f"  {axis.upper()} axis: {error:.2f}%\n"
-
-    return results
+    return fig


 def main():
@@ -133,6 +395,9 @@ def main():
    opts.add_option(
        '-a', '--accel', type='string', dest='accel', default=None, help='acceleration value used to do the movements'
    )
+    opts.add_option(
+        '-l', '--length', type='float', dest='length', default=None, help='recorded length for each segment'
+    )
    options, args = opts.parse_args()
    if len(args) < 1:
        opts.error('No CSV file(s) to analyse')
@@ -142,13 +407,17 @@ def main():
        accel_value = float(options.accel)
    except ValueError:
        opts.error('Invalid acceleration value. It should be a numeric value.')
+    if options.length is None:
+        opts.error('You must specify the length of the measured segments (option -l)')
+    try:
+        length_value = float(options.length)
+    except ValueError:
+        opts.error('Invalid length value. It should be a numeric value.')
+    if options.output is None:
+        opts.error('You must specify an output file.png to use the script (option -o)')

-    results = axesmap_calibration(args, accel_value)
-    ConsoleOutput.print(results)
-
-    if options.output is not None:
-        with open(options.output, 'w') as f:
-            f.write(results)
+    fig = axesmap_calibration(args, length_value, accel_value, 'unknown')
+    fig.savefig(options.output, dpi=150)


 if __name__ == '__main__':
--- a/shaketune/post_processing/graph_creator.py
+++ b/shaketune/post_processing/graph_creator.py
@@ -10,7 +10,6 @@ from typing import Callable, Optional

 from matplotlib.figure import Figure

-from ..helpers.console_output import ConsoleOutput
 from ..measurement.motorsconfigparser import MotorsConfigParser
 from ..shaketune_config import ShakeTuneConfig
 from .analyze_axesmap import axesmap_calibration
@@ -238,41 +237,41 @@ class AxesMapFinder(GraphCreator):
    def __init__(self, config: ShakeTuneConfig):
        super().__init__(config)

-        self._graph_date = datetime.now().strftime('%Y%m%d_%H%M%S')
-        self._type = 'axesmap'
-        self._folder = config.get_results_folder()
-
        self._accel = None
+        self._segment_length = None
+        self._graph_date = datetime.now().strftime('%Y%m%d_%H%M%S')

-    def configure(self, accel: int) -> None:
+        self._setup_folder('axesmap')
+
+    def configure(self, accel: int, segment_length: float) -> None:
        self._accel = accel
+        self._segment_length = segment_length

-    def find_axesmap(self) -> None:
-        tmp_folder = Path('/tmp')
-        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 process it
-        logname = sorted(globbed_files, key=lambda f: f.stat().st_mtime, reverse=True)[0]
-        results = axesmap_calibration(
-            lognames=[str(logname)],
-            accel=self._accel,
-        )
-        ConsoleOutput.print(results)
-
-        result_filename = self._folder / f'{self._type}_{self._graph_date}.txt'
-        with result_filename.open('w') as f:
-            f.write(results)
-
-    # While the AxesMapFinder doesn't directly create a graph, we need to implement this
-    # method to allow using it seemlessly like all the other GraphCreator objects
    def create_graph(self) -> None:
-        self.find_axesmap()
+        lognames = self._move_and_prepare_files(
+            glob_pattern='shaketune-axesmap_*.csv',
+            min_files_required=3,
+            custom_name_func=lambda f: f.stem.split('_')[1].upper(),
+        )
+        fig = axesmap_calibration(
+            lognames=[str(path) for path in lognames],
+            accel=self._accel,
+            fixed_length=self._segment_length,
+            st_version=self._version,
+        )
+        self._save_figure_and_cleanup(fig, lognames)

-    def clean_old_files(self, keep_results: int) -> None:
-        tmp_folder = Path('/tmp')
-        globbed_files = list(tmp_folder.glob('shaketune-axemap_*.csv'))
-        for csv_file in globbed_files:
-            csv_file.unlink()
+    def clean_old_files(self, keep_results: int = 3) -> None:
+        # Get all PNG files in the directory as a list of Path objects
+        files = sorted(self._folder.glob('*.png'), key=lambda f: f.stat().st_mtime, reverse=True)
+
+        if len(files) <= keep_results:
+            return  # No need to delete any files
+
+        # Delete the older files
+        for old_file in files[keep_results:]:
+            file_date = '_'.join(old_file.stem.split('_')[1:3])
+            for suffix in ['X', 'Y', 'Z']:
+                csv_file = self._folder / f'axesmap_{file_date}_{suffix}.csv'
+                csv_file.unlink(missing_ok=True)
+            old_file.unlink()
--- a/shaketune/shaketune_config.py
+++ b/shaketune/shaketune_config.py
@@ -7,7 +7,7 @@ from .helpers.console_output import ConsoleOutput
 KLIPPER_FOLDER = Path.home() / 'klipper'
 KLIPPER_LOG_FOLDER = Path.home() / 'printer_data/logs'
 RESULTS_BASE_FOLDER = Path.home() / 'printer_data/config/K-ShakeTune_results'
-RESULTS_SUBFOLDERS = {'belts': 'belts', 'shaper': 'inputshaper', 'vibrations': 'vibrations'}
+RESULTS_SUBFOLDERS = {'axesmap': 'axesmap', 'belts': 'belts', 'shaper': 'inputshaper', 'vibrations': 'vibrations'}


 class ShakeTuneConfig:
--- a/shaketune/shaketune_process.py
+++ b/shaketune/shaketune_process.py
@@ -53,7 +53,7 @@ class ShakeTuneProcess:
        # Trying to reduce Shake&Tune process priority to avoid slowing down the main Klipper process
        # as this could lead to random "Timer too close" errors when already running CANbus, etc...
        try:
-            os.nice(15)
+            os.nice(19)
        except Exception:
            ConsoleOutput.print('Warning: failed reducing Shake&Tune process priority, continuing...')

@@ -76,7 +76,6 @@ class ShakeTuneProcess:

        graph_creator.clean_old_files(self._config.keep_n_results)

-        if graph_creator.get_type() != 'axesmap':
        ConsoleOutput.print(f'{graph_creator.get_type()} graphs created successfully!')
        ConsoleOutput.print(
            f'Cleaned up the output folder (only the last {self._config.keep_n_results} results were kept)!'