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

avoid returning wrong axes_map if it wasn't determined correctly

Browse Source
This commit is contained in:
Félix Boisselier
2024-06-16 18:31:52 +02:00
parent 8b0862a96a
commit fb8e1ce98f
3 changed files with 109 additions and 77 deletions
Download Patch File Download Diff File Expand all files Collapse all files

182
shaketune/graph_creators/axes_map_graph_creator.py
View File

@@ -7,7 +7,6 @@
# Description: Implements the axes map detection script for Shake&Tune, including
# calibration tools and graph creation for 3D printer vibration analysis.
import optparse
import os
from datetime import datetime
@@ -194,35 +193,39 @@ def linear_regression_direction(
def plot_compare_frequency(
ax: plt.Axes, time: np.ndarray, accel_x: np.ndarray, accel_y: np.ndarray, accel_z: np.ndarray, offset: float, i: int
ax: plt.Axes,
time_data: List[np.ndarray],
accel_data: List[Tuple[np.ndarray, np.ndarray, np.ndarray]],
offset: float,
noise_level: str,
) -> None:
# 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,
)
for i, (time, (accel_x, accel_y, accel_z)) in enumerate(zip(time_data, accel_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)')
@@ -242,53 +245,52 @@ def plot_compare_frequency(
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)
# Add the gravity and noise level to the graph legend
ax2 = ax.twinx()
ax2.yaxis.set_visible(False)
ax2.plot([], [], ' ', label=noise_level)
ax2.plot([], [], ' ', label=f'Measured gravity: {offset / 1000:0.3f} m/s²')
ax2.legend(loc='upper right', prop=fontP)
def plot_3d_path(
ax: plt.Axes,
i: int,
position_x: np.ndarray,
position_y: np.ndarray,
position_z: np.ndarray,
average_direction_vector: np.ndarray,
angle_error: float,
position_data: List[Tuple[np.ndarray, np.ndarray, np.ndarray]],
direction_vectors: List[np.ndarray],
angle_errors: List[float],
) -> None:
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 3D path of the movement
for i, ((position_x, position_y, position_z), average_direction_vector, angle_error) in enumerate(
zip(position_data, direction_vectors, angle_errors)
):
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,
)
# 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]]
)
ax.plot(
[start_position[0], end_position[0]],
[start_position[1], end_position[1]],
[start_position[2], end_position[2]],
label=f'{["X", "Y", "Z"][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)')
@@ -311,14 +313,24 @@ def plot_3d_path(
def format_direction_vector(vectors: List[np.ndarray]) -> str:
formatted_vector = []
axes_count = {'x': 0, 'y': 0, 'z': 0}
for vector in vectors:
for i in range(len(vector)):
if vector[i] > 0:
formatted_vector.append(MACHINE_AXES[i])
axes_count[MACHINE_AXES[i]] += 1
break
elif vector[i] < 0:
formatted_vector.append(f'-{MACHINE_AXES[i]}')
axes_count[MACHINE_AXES[i]] += 1
break
# Check if all axes are present in the axes_map and return an error message if not
for _, count in axes_count.items():
if count != 1:
return 'unable to determine it correctly!'
return ', '.join(formatted_vector)
@@ -360,8 +372,12 @@ def axesmap_calibration(
cumulative_start_position = np.array([0, 0, 0])
direction_vectors = []
angle_errors = []
total_noise_intensity = 0.0
for i, machine_axis in enumerate(MACHINE_AXES):
acceleration_data = []
position_data = []
gravities = []
for _, machine_axis in enumerate(MACHINE_AXES):
if machine_axis not in raw_datas:
raise ValueError(f'Missing CSV file for axis {machine_axis}')
@@ -388,15 +404,19 @@ def axesmap_calibration(
f'Machine axis {machine_axis.upper()} -> nearest accelerometer direction vector: {direction_vector} (angle error: {angle_error:.2f}°)'
)
direction_vectors.append(direction_vector)
angle_errors.append(angle_error)
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)
acceleration_data.append((time, (accel_x, accel_y, accel_z)))
position_data.append((position_x, position_y, position_z))
gravities.append(gravity)
# Update the cumulative start position for the next segment
cumulative_start_position = np.array([position_x[-1], position_y[-1], position_z[-1]])
gravity = np.mean(gravities)
average_noise_intensity = total_noise_intensity / len(raw_datas)
if average_noise_intensity <= 350:
average_noise_intensity_text = '-> OK'
@@ -405,11 +425,25 @@ def axesmap_calibration(
else:
average_noise_intensity_text = '-> ERROR: accelerometer noise is too high!'
average_noise_intensity_label = (
f'Dynamic noise level: {average_noise_intensity:.2f} mm/s² {average_noise_intensity_text}'
)
ConsoleOutput.print(average_noise_intensity_label)
ConsoleOutput.print(f'--> Detected gravity: {gravity / 1000 :.2f} m/s²')
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}'
# Plot the differents graphs
plot_compare_frequency(
ax1,
[d[0] for d in acceleration_data],
[d[1] for d in acceleration_data],
gravity,
average_noise_intensity_label,
)
plot_3d_path(ax2, position_data, direction_vectors, angle_errors)
# Add title
title_line1 = 'AXES MAP CALIBRATION TOOL'
@@ -430,9 +464,7 @@ def axesmap_calibration(
fig.text(0.060, 0.939, title_line2, ha='left', va='top', fontsize=16, color=KLIPPAIN_COLORS['dark_purple'])
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'])
fig.text(0.50, 0.985, title_line3, ha='left', va='top', fontsize=16, color=KLIPPAIN_COLORS['dark_purple'])
# 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')